lasergraph fix

fixed errors after merge and added graphs to pages
Merge branch '377-inverter-state-machine-and-el6021-incorrectly-handle-requestresponses' into extruder_feature_testing
2025-06-23 14:22:55 +02:00 · 2025-06-23 13:15:02 +02:00 · 2025-06-23 13:02:17 +02:00 · 2025-06-23 13:02:14 +02:00 · 2025-06-23 12:55:40 +02:00 · 2025-06-23 12:47:52 +02:00
611 changed files with 18540 additions and 103398 deletions
@@ -1,3 +0,0 @@
-.png filter=lfs diff=lfs merge=lfs -text
-.jpg filter=lfs diff=lfs merge=lfs -text
-.jpeg filter=lfs diff=lfs merge=lfs -text
@@ -1,29 +0,0 @@
-This is a machine control software project.
-
-## Repository structure
-
-### Frontend
-
-`/electron`: Frontend code for the control software built with React and Electron.
-
-### Backend
-
-`/server`: Implements machine setup & loop. Exposes a REST & Socket.io API for the electron frontend.
-`/ethercat-hal`: Hardware abstraction layer for Beckhoff (and possibly other EtherCat) devices and protocols.
-`/ethercat-hal-derive`: Macros for ethercat-hal
-`/control-core`: Generic logic for the server.
-
-### HMI Panel Operating System
-
-`/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
-
-### Other
-
-/docs: Documentation for the project.
-
-## Key Guidelines
-
-1. Follow Rust & Typescript best practices and idiomatic patterns
-2. Maintain existing code structure and organization
-3. Write unit tests for new functionality where applicable.
-4. Document public APIs and complex logic in code. Suggest changes to the `docs/` folder when appropriate
@@ -1,19 +1,16 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for all configuration options:
+# https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file
+
 version: 2
 updates:
-  - package-ecosystem: "npm"
-    directory: "/electron"
+  - package-ecosystem: "npm" # See documentation for possible values
+    directory: "/electron" # Location of package manifests
    schedule:
-      interval: "monthly"
-    ignore:
-    - dependency-name: "*"
-      update-types:
-        - "version-update:semver-minor"
+      interval: "weekly"

-  - package-ecosystem: "cargo"
-    directory: "/"
+  - package-ecosystem: "cargo" # See documentation for possible values
+    directory: "/" # Location of package manifests
    schedule:
-      interval: "monthly"
-    ignore:
-      - dependency-name: "*"
-        update-types:
-          - "version-update:semver-minor"
+      interval: "weekly"
@@ -36,17 +36,11 @@ jobs:
      - name: Install
        run: npm i

-      - name: Build
-        run: tsc
-
-      - name: Format
-        run: npm run format
-
      - name: Lint
        run: npm run lint

      - name: Test
        run: npm run test

-      - name: Package
+      - name: Build
        run: npm run package
@@ -21,8 +21,6 @@ jobs:
      - uses: actions/checkout@v4
      - name: Set Rust version
        run: rustup override set ${{ env.RUST_VERSION }}
-      - name: Install Formatter
-        run: rustup component add rustfmt
      - name: Cache Rust dependencies
        uses: actions/cache@v3
        with:
@@ -37,12 +35,7 @@ jobs:
            ${{ runner.os }}-${{ env.RUST_VERSION }}-cargo-

      - name: Build
-        env:
-          RUSTFLAGS: "-D warnings"
        run: cargo build --verbose

-      - name: Format
-        run: cargo fmt --check --verbose
-
      - name: Run tests
        run: cargo test --verbose
@@ -3,5 +3,3 @@ dist/
 .DS_Store
 Cargo.lock
 dhat-heap.json
-build.sh
-shell.nix
@@ -1,49 +0,0 @@
-# Canonical identities on the left, aliases on the right.
-# Format options:
-#   Canon Name <canon@example.com> <alias@example.com>
-#   Canon Name <canon@example.com> Alias Name <alias@example.com>
-
-# Icedsoda -> Philipp
-Philipp <29167146+1cedsoda@users.noreply.github.com> <29167146+1cedsoda@users.noreply.github.com>
-
-# kraemr / Robin Krämer -> Robin
-Robin <93094049+kraemr@users.noreply.github.com> <93094049+kraemr@users.noreply.github.com>
-Robin <93094049+kraemr@users.noreply.github.com> Robin Krämer <93094049+kraemr@users.noreply.github.com>
-
-# Oshgnacknak -> Josh
-Josh <osh@oshgnacknak.de> <osh@oshgnacknak.de>
-
-# Milan
-Milan <61654753+MilanVDB@users.noreply.github.com>
-
-# dependabot stays as bot
-Dependabot <49699333+dependabot[bot]@users.noreply.github.com> <49699333+dependabot[bot]@users.noreply.github.com>
-
-# Medformatik / Florian -> Florian
-Florian <dev@fwcr.de> <dev@fwcr.de>
-Florian <dev@fwcr.de> Medformatik <dev@fwcr.de>
-
-# Anatomik5 -> Alisher (merge noreply + gmail under Alisher)
-Alisher <115714693+Anatomik5@users.noreply.github.com> <115714693+Anatomik5@users.noreply.github.com>
-Alisher <115714693+Anatomik5@users.noreply.github.com> Anatomik5 <darmenovalisher@gmail.com>
-Alisher <115714693+Anatomik5@users.noreply.github.com> Darmenov Alisher <115714693+Anatomik5@users.noreply.github.com>
-
-# snacj -> Melvin
-Melvin <0xsnacj@proton.me> <0xsnacj@proton.me>
-Melvin <0xsnacj@proton.me> snacj <bbmelvin@gmx.de>
-Melvin <0xsnacj@proton.me> Melvin Spieß <0xsnacj@proton.me>
-
-# Janhegerq -> Jan
-Jan <219994445+Janhegerq@users.noreply.github.com> <219994445+Janhegerq@users.noreply.github.com>
-Jan <219994445+Janhegerq@users.noreply.github.com> <19994445+Janhegerq@users.noreply.github.com>
-
-# Christian / TheBest6337 -> christian
-Christian <christian.zschoegner@outlook.de> <christian.zschoegner@outlook.de>
-Christian <christian.zschoegner@outlook.de> TheBest6337 <christian.zschoegner@outlook.de>
-Christian <christian.zschoegner@outlook.de> Christian <80114847+TheBest6337@users.noreply.github.com>
-
-# nixos-install.sh
-nixos-install.sh <nixos-install.sh@localhost> <nixos-install.sh@localhost>
-
-# copilot-swe-agent bot
-Copilot <198982749+Copilot@users.noreply.github.com> <198982749+Copilot@users.noreply.github.com>
@@ -1,6 +1,5 @@
 {
    "typescript.inlayHints.enumMemberValues.enabled": false,
-    "git.detectSubmodules": true,
-    "git.detectSubmodulesLimit": 10,
-    "rust-analyzer.check.command": "clippy",
+     "git.detectSubmodules": true,
+     "git.detectSubmodulesLimit": 10,
 }
@@ -1,245 +1,4 @@
-# `2.12.0`
-_17.11.2025_
-
-## General
- [#847](https://github.com/qitechgmbh/control/pull/847) Improved discovery and initialization 
- [#859](https://github.com/qitechgmbh/control/pull/859) Improved update speed
- [#897](https://github.com/qitechgmbh/control/pull/897), [#899](https://github.com/qitechgmbh/control/pull/899), [#852](https://github.com/qitechgmbh/control/pull/852)  Improved system stability
- [#817](https://github.com/qitechgmbh/control/pull/817) Added an update bar
-
-## Laser
- [#857](https://github.com/qitechgmbh/control/pull/857) Fixed potential issues with 2 Axis Laser
-
-## Extruder V2
- [#881](https://github.com/qitechgmbh/control/pull/881) Extended Temperature PID Configuration
-
-
-# `2.11.0`
-_21.10.2025_
-
-## General 
- [#829](https://github.com/qitechgmbh/control/pull/829), [#834](https://github.com/qitechgmbh/control/pull/834), Improved overall system stability
-
-## Winder V2 
- [#840](https://github.com/qitechgmbh/control/pull/840) Added XL Winder option
- [#827](https://github.com/qitechgmbh/control/pull/827) Spool can now be run in reverse
-
-## Extruder V2
- [#826](https://github.com/qitechgmbh/control/pull/826) Fine grained Temperature-PID configuration now possible
-
-
-# `2.10.0`
-_16.10.2025_
-
-## Winder V2
- [#776](https://github.com/qitechgmbh/control/pull/776) Added explanation for padding in winder manual
- [#804](https://github.com/qitechgmbh/control/pull/804) Added gearbox conversion
-
-## General 
- [#717](https://github.com/qitechgmbh/control/pull/717) Show from option for graphs added
- [#805](https://github.com/qitechgmbh/control/pull/805) Graphs run better now
-
-
-
-# `2.9.1`
-_10.10.2025_
-
-## Winder V2
- [#796](https://github.com/qitechgmbh/control/pull/796) Winding in adaptive mode, while puller is in reverse mode is now possible
-
-## General
- [#780](https://github.com/qitechgmbh/control/pull/780) Updates are faster now
- [#746](https://github.com/qitechgmbh/control/pull/746) Improved scrollbar styling for manuals
-
-# `2.9.0`
-_06.10.2025_
-
-## Winder V2
- [#778](https://github.com/qitechgmbh/control/pull/778) Increased Winder Traverse Step size limit
-
-## General
- [#725](https://github.com/qitechgmbh/control/pull/725) Improved troubleshooting and update page
- [#625](https://github.com/qitechgmbh/control/pull/625) Improved stability of Machine-Connections
-
-
-# `2.8.0`
-_30.09.2025_
-
-
-## Laser V1
- [#741](https://github.com/qitechgmbh/control/pull/741) Added roundness measurement to two-axis Laser
-
-
-## Winder V2
- [#745](https://github.com/qitechgmbh/control/pull/745), [#756](https://github.com/qitechgmbh/control/pull/756) improved Winder Frontend
-
-## General
- [#447](https://github.com/qitechgmbh/control/pull/447) added AquaPath Machine
-
-
-
-
-# `2.7.0`
-
-_17.09.2025_
-
-## Extruder V2
-
- [#695](https://github.com/qitechgmbh/control/pull/695) Pressure and Rpm Regulation properly switch again
-
-## Winder V2
-
- [#727](https://github.com/qitechgmbh/control/pull/727) Removed estimated diameter
-
-## Laser V1
-
- [#731](https://github.com/qitechgmbh/control/pull/731) Added Laser with two-axis measurements
-
-## General
-
- [#679](https://github.com/qitechgmbh/control/pull/679),[#677](https://github.com/qitechgmbh/control/pull/677),[#698](https://github.com/qitechgmbh/control/pull/698), [#684](https://github.com/qitechgmbh/control/pull/684),[#706](https://github.com/qitechgmbh/control/pull/706) Greatly improved overall system latency and stability
-
- [#720](https://github.com/qitechgmbh/control/pull/720), [#686](https://github.com/qitechgmbh/control/pull/686) Improved User Interface
-
-# `2.6.0`
-
-_03.09.2025_
-
-## Extruder V2
-
- [#658](https://github.com/qitechgmbh/control/pull/658) Added manual
- [#639](https://github.com/qitechgmbh/control/pull/639) Swapped order of screw speed regulation buttons
-
-## Laser V1
-
- [#642](https://github.com/qitechgmbh/control/pull/642) Improved stability of laser connection
-
-## General
-
- [#657](https://github.com/qitechgmbh/control/pull/657) Time frame for graphs is now remembered
- [#641](https://github.com/qitechgmbh/control/pull/641) Removed duplicate scrollbar from manuals
-
-# `2.5.0`
-
-_27.08.2025_
-
-## Extruder V2
-
- [#595](https://github.com/qitechgmbh/control/pull/600) Simplified power graphs
- [#593](https://github.com/qitechgmbh/control/pull/599) Added identifiers for temperature sensors in temperature graph
-
-## Winder V2
-
- [#598](https://github.com/qitechgmbh/control/pull/601) Images now load properly in the manual
-
-## General
-
- [#540](https://github.com/qitechgmbh/control/pull/592) Improved readability of the presets
- [#591](https://github.com/qitechgmbh/control/pull/626) Significantly improved user interface performance and stability
-
-# `2.4.0`
-
-_14.08.2025_
-
-## Winder V2
-
- [#550](https://github.com/qitechgmbh/control/pull/551) Can now reset wound distance while winding
-
-## General
-
- [#568](https://github.com/qitechgmbh/control/pull/569),[#572](https://github.com/qitechgmbh/control/pull/572), [#574](https://github.com/qitechgmbh/control/pull/587) Improved EtherCAT performance
- [#588](https://github.com/qitechgmbh/control/pull/589) Improved frontend performance
-
-# `2.3.0`
-
-_06.08.2025_
-
-## Extruder V2
-
- [#520](https://github.com/qitechgmbh/control/pull/523) added warning message incase inverter is overloaded
- [#501](https://github.com/qitechgmbh/control/pull/508) raised pressure limit of pressured PID mode for extruder
- [#519](https://github.com/qitechgmbh/control/pull/549) added total power consumption monitor and graphs for voltage,current and wattage of the motor
-
-## Winder V2
-
- [#64](https://github.com/qitechgmbh/control/pull/504) added winder handbook
-
-## Laser V1
-
- [#497](https://github.com/qitechgmbh/control/pull/498) improved diameter visualisation
-
-## General
-
- [#62](https://github.com/qitechgmbh/control/pull/514),[#524](https://github.com/qitechgmbh/control/pull/528) added machine presets to load configurations
- [#526](https://github.com/qitechgmbh/control/pull/541) added import and export of presets
-
-# `2.2.0`
-
-_15.07.2025_
-
-## Extruder V2
-
- [#455](https://github.com/qitechgmbh/control/pull/458), Greatly improved stability and precision of pressure-based regulation for the motor
- [#467](https://github.com/qitechgmbh/control/pull/468), [#448](https://github.com/qitechgmbh/control/pull/449), [#485](https://github.com/qitechgmbh/control/pull/486) Improved the Responsiveness for motor control and monitoring
- [#138](https://github.com/qitechgmbh/control/pull/495), Added a Warning in case the Pressure sensor is disconnected or incorrectly wired
- [#169](https://github.com/qitechgmbh/control/pull/492), Added a Confirmation Dialog when extruder has not reached 90% of target temperature
-
-## Winder V2
-
- [#471](https://github.com/qitechgmbh/control/pull/480), Added a live value to track the pulled distance and the option of switching to a different Mode after a given distance.
-
-## General
-
- [#121](https://github.com/qitechgmbh/control/pull/121), Use Linux realtime threads for EtherCAT and control loop (PREEMPT_RT)
- [#138](https://github.com/qitechgmbh/control/pull/495), Updated Quick Start Guide
-
-# `2.1.0`
-
-_30.06.2025_
-
-## Extruder V2
-
- Intial Stable Release of **Extruder V2**
-
-## Winder V2
-
- [#420](https://github.com/qitechgmbh/control/pull/429), [#401](https://github.com/qitechgmbh/control/pull/401) Add _Adaptive_ spool speed algorithm, the old algorithm is now called _Minmax_ ans tillavailable.
- [#427](https://github.com/qitechgmbh/control/pull/427) Add _Estimated Spool Diameter_ graph
- [#419](https://github.com/qitechgmbh/control/pull/419) Fix Issue where traverse won't work at low spool speed
-
-## Laser V1
-
- Initial Stable Release of **Laser V1**
-
-## HMI Panel
-
- [#339](https://github.com/qitechgmbh/control/pull/338) Don't go into sleep Mmde
- [#410](https://github.com/qitechgmbh/control/pull/410) Ship with Wireshark
- [#424](https://github.com/qitechgmbh/control/pull/424) Updates can be canceled
-
-## General
-
- [#269](https://github.com/qitechgmbh/control/pull/269), [#370](https://github.com/qitechgmbh/control/pull/370) Improved performace of live values
- [#358](https://github.com/qitechgmbh/control/pull/358), [#343](https://github.com/qitechgmbh/control/pull/343), [#324](https://github.com/qitechgmbh/control/pull/324), [#390](https://github.com/qitechgmbh/control/pull/390), [#299](https://github.com/qitechgmbh/control/pull/299) Improved functionality for graphs
- [#405](https://github.com/qitechgmbh/control/pull/405) Remove weird color behaviour on tocuhscreens
- [#369](https://github.com/qitechgmbh/control/pull/369) More failsafe EtherCAT loop
-
-# `2.0.1`
-
-_10.06.2025_
-
-# `2.0.0`
-
-_10.06.2025_
-
-## General
-
- Initial stable release of QiTech Control.
-
-## Winder V2
-
- Initial stable release of **Winder V2**
-
-## Features
-
- Stabilized **Winder V2**
+# 2.0.0
+Initial stable release of QiTech Control.
+## Features 
+- Stabilized **Winder V2**
@@ -4,27 +4,7 @@ members = [
    "ethercat-hal",
    "ethercat-hal-derive",
    "control-core",
-    "machines",
-    #"ethercat-eeprom-dump",
-    "control-core-derive",
-    "units",
-    "utils",
+    "ethercat-eeprom-dump",
 ]
 exclude = []
 resolver = "2"
-
-[workspace.lints.clippy]
-# Individual lints (priority 0)
-
-# don't lint poissbilities for let chains because they were introduces after Rust 1.86
-collapsible_if = "allow"
-
-# Lint groups (priority -1)
-correctness = { level = "warn", priority = -1 }
-suspicious = { level = "warn", priority = -1 }
-complexity = { level = "warn", priority = -1 }
-perf = { level = "warn", priority = -1 }
-style = { level = "warn", priority = -1 }
-pendantic = { level = "warn", priority = -1 }
-cargo = { level = "warn", priority = -1 }
-nursery = { level = "warn", priority = -1 }
@@ -4,12 +4,6 @@

 QiTech Control is an industrial control panel software for the next generation of QiTech recycling machines built on top of Beckhoff Automation hardware.

-[![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)
-*Click here to watch a video demo of our software.*
-
-[![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM) 
-*Click here to watch a full explainer Video of our Software.*
-
 # Repo Structure

 Frontend
@@ -35,7 +29,7 @@ Other

 ## Backend

-To interface with Beckhoff and other EtherCAT devices we need an EtherCAT master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
+To interface with Beckhoff and other EtherCAT devices we need an EtherCAY master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.

 [SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.

@@ -47,8 +41,6 @@ We could combine the code of the frontend and backend using [Doxius](https://dio

 # Dev Setup

-[Developer Documentation](./docs/developer-docs/)
-
 ## Backend

 - Rust stable 1.86^ toolchain (install via [rustup](https://rustup.rs/))
@@ -67,12 +59,13 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
 | Machine Type | Version | Release Date | Description                 | Change to Previous Version                             | Vendor ID                  | Machine ID | Implemented | Docs                            |
 | ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
 | Winder       | V1      | ???          | Winding Filaments & Similar | -                                                      | 1 (Qitech Industries GmbH) | 1          | Reserved    | -                               |
-| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | Yes         | [](./docs/machines/winder-1.md) |
+| Winder       | V2      | 2025         | Winding Filaments & Similar | Reengineered Traverse                                  | 1 (Qitech Industries GmbH) | 2          | In Progress | [](./docs/machines/winder-1.md) |
 | Extruder     | V1      | ???          | Single Screw Extruder       | -                                                      | 1 (Qitech Industries GmbH) | 3          | Reserved    | -                               |
-| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Yes         |                                 |
-| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | In Progress     |                                 |
-| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Yes         |                                 |
-| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Yes         | -                               |
+| Extruder     | V2      | 2025         | Single Screw Extruder       | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4          | Not Yet     |                                 |
+| Waterway     | V1      | 2025         | Filament Water Cooling      | -                                                      | 1 (Qitech Industries GmbH) | 5          | Not Yet     |                                 |
+| Laser        | V1      | ???          | Diameter Measuring Laser    | -                                                      | 1 (Qitech Industries GmbH) | 6          | Not Yet     |                                 |
+| Mock         | -       | ???          | Mock Machine for Testing    | -                                                      | 1 (Qitech Industries GmbH) | 7          | Not Yet     | -                               |
+

 # More Docs

@@ -97,9 +90,8 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
    - Write Device Identification

 - Server
-
-  - [x] [Threading](./docs/control-loop.md)
-  - [x] [Logging](./docs/logging.md)
+  - [X] [Threading](./docs/control-loop.md)
+  - [X] [Logging](./docs/logging.md)
  - [ ] Control Loop Setup
    - Control Loop Thread
      - [ ] realtime
@@ -152,55 +144,3 @@ We could combine the code of the frontend and backend using [Doxius](https://dio
 - [x] [Ethercat Basics](./docs/ethercat-basics.md)

 - [x] [NixOS Operating System](./docs/nixos/README.md)
-
-
-## Minimal Example 
-
-# Hello EtherCAT - LED Control on the EL2004
-
-1. Introduction
-2. Requirements
-3. Wiring / Hardware Setup
-4. Software Overview
-5. Step-by-Step Implementation
-6. Final Code Listing
-7. Expected Behavior
-
---
-
-## 1. Introduction
-
-The EL2004 LED Toggle Example is a minimal demonstration showing how to control digital outputs on a Beckhoff EL2004 EtherCAT terminal using the existing QiTech machine framework. It is designed as the simplest possible working example of hardware interaction: turning an LED on and off.
-
---
-
-## 2. Requirements
-
-### Hardware
- Beckhoff EL2004 EtherCAT Terminal (Digital Output, 4 channels)
- Beckhoff EK1100 EtherCAT Coupler
- Power supply for EK1100 and EL2004 module (AC/DC Adapter with 24V Output )
- Connecting wires
- A PC connected to the EtherCAT network
-
-### Software
- Rust toolchain (for building backend machine code)
- Node.js and npm/yarn (for frontend control interface)
- The project repository cloned locally
- Access to EtherCAT drivers and any required HAL bindings (available in the QITech control repository)
-
---
-
-## 3. Wiring / Hardware Setup
-
-### Schematic
-<img width="1123" height="859" alt="Screenshot 2025-12-03 at 16 12 26" src="https://github.com/user-attachments/assets/a04278d9-7f6a-442d-9ea7-7ace9ac44872" />
-
-
-### Needed Hardware Overview
-
-<img width="813" height="1079" alt="Screenshot 2025-12-03 at 16 12 42" src="https://github.com/user-attachments/assets/af34a581-a668-4c6b-9d7f-062355813b6a" />
-
-
-Figure 1: Beckhoff EK1100 Bus Coupler — the device circles in red is a simple … [caption truncated in source]
-
@@ -1,33 +1,13 @@
 #!/bin/bash

-set -e
-
-FEATURE=""
-
-# Check if "mock-machine" was passed as an argument
-if [[ "$1" == "mock-machine" ]]; then
-    echo "Building Debug Code with mock-machine feature"
-    FEATURE="--features mock-machine"
-fi
-
-if [[ "$1" == "release" ]]; then
+if [ $1 == "release" ]; then
    echo "building Release Code"
    cargo build --release
 else
-    echo "Building Debug Code"
-    cargo build $FEATURE --features development-build
+    echo "building Debug Code"
+    cargo build
 fi
-
-# Only setcap if not building with mock-machine
-if [ "$1" != "mock-machine" ]; then
-    echo "Setting capabilities for server executable"
-    sudo setcap 'cap_dac_override,cap_net_raw,cap_sys_nice,cap_ipc_lock=eip' ./target/debug/server
-
-    if compgen -G "/dev/ttyUSB*" > /dev/null; then
-      echo "Setting permissions for serial ports"
-      sudo chown "root:$(groups | cut -f1 -d' ')" /dev/ttyUSB*
-    fi
-fi
-
+# set cap for server executable
+sudo setcap cap_net_raw=eip ./target/debug/server
 # run
 ./target/debug/server
@@ -1,43 +0,0 @@
-#!/bin/bash
-
-# Nix store uses sqlite ... SO HAHAHAHAHH NO CONCURRENT ACCESS AHAHAHHAHAHAHHAHAHAHAH
-time nix build .#packages.x86_64-linux.server --impure --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/server-result
-serverstore=$(readlink -f /tmp/server-result) 
-
-time nix build .#packages.x86_64-linux.electron --impure --option sandbox false --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
-electronstore=$(readlink -f /tmp/electron-result)
-
-
-nix copy --to "file:///opt/dev-cache" \
-  $(readlink -f /tmp/server-result) \
-  $(readlink -f /tmp/electron-result) --extra-experimental-features nix-command
-
-nix store sign \
-  --key-file /opt/dev-cache/cache-private-key.pem \
-  --store "file:///opt/dev-cache" \
-  --extra-experimental-features nix-command \
-  "$serverstore" "$electronstore"
-
-
-nix path-info "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
-
-
-# nix verify --store "file:///opt/dev-cache" \
-#   --trusted-public-keys "$(cat /opt/dev-cache/cache-public-key.pem)" --extra-experimental-features nix-command --extra-experimental-features flakes \
-#   "$FIRST_PATH" || echo "Verification failed!" 
-
-
-#time nix build .#packages.x86_64-linux.electron --extra-experimental-features nix-command --extra-experimental-features flakes --out-link /tmp/electron-result
-#electronstore=$(readlink -f /tmp/electron-result)
-
-#nix-store --generate-binary-cache-key cache.key cache.pem --extra-experimental-features nix-command
-#nix store sign --key-file cache.key "$serverstore" --extra-experimental-features nix-command
-#nix path-info --json "$serverstore" --extra-experimental-features nix-command --extra-experimental-features flakes
-#export
-#nix-store --export /nix/store/<hash>-server > nix-cache/server.nar
-#nix-store --export /nix/store/<hash>-electron > nix-cache/electron.nar
-
-# Any http server
-# cd ~/nix-cache
-# python3 -m http.server 8080
-# 
@@ -1,15 +0,0 @@
-[package]
-name = "control_core_derive"
-version = "0.1.0"
-edition = "2024"
-
-[lints]
-workspace = true
-
-[lib]
-proc-macro = true
-
-[dependencies]
-proc-macro2 = "1.0"
-quote = "1.0"
-syn = { version = "2.0", features = ["full"] }
@@ -1,65 +0,0 @@
-use proc_macro::TokenStream;
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use syn::{DeriveInput, Error};
-
-#[proc_macro_derive(BuildEvent)]
-pub fn build_event_derive(item: TokenStream) -> TokenStream {
-    build_event_derive2(item.into()).unwrap().into()
-}
-
-fn build_event_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
-    // Parse the input tokens into a syntax tree
-    let ast: DeriveInput = syn::parse2(item)?;
-
-    let ident = &ast.ident;
-    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
-
-    // Generate the BuildEvent impl
-    let expanded = quote! {
-        impl #impl_generics control_core::socketio::event::BuildEvent for #ident #ty_generics #where_clause {
-            #[doc = "Implemented by the BuildEvent derive macro"]
-            fn build(&self) -> control_core::socketio::event::Event<Self> {
-
-                control_core::socketio::event::Event::new(stringify!(#ident), self.clone())
-
-            }
-        }
-    };
-
-    Ok(expanded)
-}
-
-#[proc_macro_derive(Machine)]
-pub fn machine_derive(item: TokenStream) -> TokenStream {
-    machine_derive2(item.into()).unwrap().into()
-}
-
-fn machine_derive2(item: TokenStream2) -> Result<TokenStream2, Error> {
-    // Parse the input tokens into a syntax tree
-    let ast: DeriveInput = syn::parse2(item)?;
-
-    let ident = &ast.ident;
-
-    let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
-
-    let expanded = quote! {
-        impl #impl_generics control_core::machines::Machine for #ident #ty_generics #where_clause {
-            fn get_machine_identification_unique(&self) -> control_core::machines::identification::MachineIdentificationUnique {
-                self.machine_identification_unique.clone()
-            }
-        }
-
-        impl #impl_generics control_core::machines::AnyGetters for #ident #ty_generics #where_clause {
-            fn as_any(&self) -> &dyn std::any::Any {
-                self
-            }
-
-            fn as_any_mut(&mut self) -> &mut dyn std::any::Any {
-                self
-            }
-        }
-    };
-
-    Ok(expanded)
-}
@@ -3,43 +3,22 @@ name = "control_core"
 version = "0.1.0"
 edition = "2024"

-[lints]
-workspace = true
-
 [dependencies]
-anyhow = "1.0.100"
-
-axum = "0.8.6"
-
+anyhow = "1.0.98"
+axum = "0.8.4"
 ethercat_hal = { path = "../ethercat-hal" }
-units = { path = "../units" }
 ethercrab = "0.6"
 interfaces = "0.0.9"
 serde = "1.0.219"
-serialport = "4.7.3"
+serde_json = "1.0.140"
+serialport = "4.7.1"
 smol = "2.0.2"
-socketioxide = "0.17.2"
+socketioxide = "0.17.1"
+uom = "0.36.0"
 bitvec = { version = "1.0.1", features = ["alloc"] }
 crc = "3.3.0"
+serial = "0.4.0"
 tracing = "0.1.41"
-erased-serde = "0.4.8"
-core_affinity = "0.8.3"
-control_core_derive = { version = "0.1.0", path = "../control-core-derive" }
-tokio = { version = "1.45.1", features = ["sync"], optional = true }
-
-
-[target.'cfg(unix)'.dependencies]
-libc = "0.2.176"
-
+erased-serde = "0.4.6"
 [dev-dependencies]
 approx = "0.5.1"
-textplots = "0.8"
-tokio = { version = "1.45.1", features = ["rt-multi-thread", "macros", "time"] }
-
-
-[features]
-default = []
-video-streaming = ["dep:tokio"]
-
-[package.metadata.cargo-machete]
-ignored =  ["axum","bitvec","control_core_derive"]
@@ -0,0 +1,91 @@
+use super::Actor;
+use ethercat_hal::io::analog_output::AnalogOutput;
+use std::{
+    f64::consts::PI,
+    future::Future,
+    pin::Pin,
+    time::{Duration, Instant},
+};
+use uom::si::{angle::radian, f64::Angle, ratio::ratio};
+pub type AnalogFunction = Box<dyn Fn(Duration) -> f64 + Send + Sync>;
+
+/// Can module analog output with a function
+pub struct AnalogFunctionGenerator {
+    output: AnalogOutput,
+    function: AnalogFunction,
+    start_ts: Instant,
+}
+
+impl AnalogFunctionGenerator {
+    pub fn new(output: AnalogOutput, function: AnalogFunction) -> Self {
+        Self {
+            output,
+            function,
+            start_ts: Instant::now(),
+        }
+    }
+}
+
+impl Actor for AnalogFunctionGenerator {
+    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let diff = now - self.start_ts;
+            let value = (self.function)(diff);
+            (self.output.write)((value as f32).into()).await;
+        })
+    }
+}
+
+pub fn analog_sine(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
+    Box::new(move |dt: Duration| {
+        // Convert to seconds as f64 for calculation
+        let dt_secs = dt.as_secs_f64();
+        let period_secs = period.as_secs_f64();
+        let phase_secs = dt_secs % period_secs;
+        let angle = Angle::new::<radian>(2.0 * PI * phase_secs / period_secs);
+        let value = angle.sin().get::<ratio>();
+        value * (amplitude / 2.0) + normal + (amplitude / 2.0)
+    })
+}
+
+pub fn analog_multiply<const N: usize>(functions: [AnalogFunction; N]) -> AnalogFunction {
+    Box::new(move |dt: Duration| functions.iter().fold(1.0, |acc, func| acc * func(dt)))
+}
+
+pub fn analog_sawtooth(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
+    Box::new(move |dt: Duration| {
+        let dt_secs = dt.as_secs_f64();
+        let period_secs = period.as_secs_f64();
+        let phase_secs = dt_secs % period_secs;
+        let value = phase_secs / period_secs;
+        value * amplitude + normal
+    })
+}
+
+pub fn analog_square(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
+    Box::new(move |dt: Duration| {
+        let dt_secs = dt.as_secs_f64();
+        let period_secs = period.as_secs_f64();
+        let phase_secs = dt_secs % period_secs;
+        let value = if phase_secs < period_secs / 2.0 {
+            1.0
+        } else {
+            -1.0
+        };
+        value * amplitude + normal
+    })
+}
+
+pub fn analog_triangle(amplitude: f64, normal: f64, period: Duration) -> AnalogFunction {
+    Box::new(move |dt: Duration| {
+        let dt_secs = dt.as_secs_f64();
+        let period_secs = period.as_secs_f64();
+        let phase_secs = dt_secs % period_secs;
+        let value = if phase_secs < period_secs / 2.0 {
+            phase_secs / period_secs * 2.0
+        } else {
+            2.0 - phase_secs / period_secs * 2.0
+        };
+        value * amplitude + normal
+    })
+}
@@ -0,0 +1,40 @@
+use super::Actor;
+use ethercat_hal::io::analog_input::{AnalogInput, physical::AnalogInputValue};
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Log the state of a analog input
+#[derive(Debug)]
+pub struct AnalogInputGetter {
+    input: AnalogInput,
+    normalized: Option<f32>,
+}
+
+impl AnalogInputGetter {
+    pub fn new(input: AnalogInput) -> Self {
+        Self {
+            input,
+            normalized: None,
+        }
+    }
+
+    /// Value from -1.0 to 1.0
+    pub fn get_normalized(&self) -> Option<f32> {
+        self.normalized
+    }
+
+    pub fn get_physical(&self) -> Option<AnalogInputValue> {
+        match self.get_normalized() {
+            Some(normalized) => Some(self.input.range.normalized_to_physical(normalized)),
+            None => return None,
+        }
+    }
+}
+
+impl Actor for AnalogInputGetter {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.input.state)().await;
+            self.normalized = Some(state.input.normalized);
+        })
+    }
+}
@@ -0,0 +1,35 @@
+use super::Actor;
+use ethercat_hal::io::digital_input::DigitalInput;
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Log the state of a digital input
+#[derive(Debug)]
+pub struct DigitalInputGetter {
+    input: DigitalInput,
+    value: bool,
+}
+
+impl DigitalInputGetter {
+    pub fn new(input: DigitalInput) -> Self {
+        Self {
+            input,
+            value: false,
+        }
+    }
+
+    /// Get the current value of the digital input
+    pub fn value(&self) -> bool {
+        self.value
+    }
+}
+
+impl Actor for DigitalInputGetter {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.input.state)()
+                .await
+                .expect("Failed to get digital input state");
+            self.value = state.input.value;
+        })
+    }
+}
@@ -0,0 +1,25 @@
+use super::Actor;
+use ethercat_hal::io::digital_input::DigitalInput;
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Log the state of a digital input
+pub struct DigitalInputLogger {
+    input: DigitalInput,
+}
+
+impl DigitalInputLogger {
+    pub fn new(input: DigitalInput) -> Self {
+        Self { input }
+    }
+}
+
+impl Actor for DigitalInputLogger {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.input.state)()
+                .await
+                .expect("Failed to get digital input state");
+            println!("DigitalInputLogger: {}", state.input.value);
+        })
+    }
+}
@@ -0,0 +1,51 @@
+use super::Actor;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use std::{
+    future::Future,
+    pin::Pin,
+    time::{Duration, Instant},
+};
+
+/// Set a digital output high and low with a given interval
+#[derive(Debug)]
+pub struct DigitalOutputBlinker {
+    last_toggle: Instant,
+    output: DigitalOutput,
+    interval: Duration,
+    enabled: bool,
+}
+
+impl DigitalOutputBlinker {
+    pub fn new(output: DigitalOutput, interval: Duration) -> Self {
+        Self {
+            last_toggle: Instant::now(),
+            output,
+            interval,
+            enabled: true,
+        }
+    }
+    pub fn set_interval(&mut self, interval: Duration) {
+        self.interval = interval;
+    }
+
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+}
+
+impl Actor for DigitalOutputBlinker {
+    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            {
+                let state = (self.output.state)().await;
+                if now - self.last_toggle > self.interval {
+                    match state.output.into() {
+                        true => (self.output.write)(false.into()).await,
+                        false => (self.output.write)(true.into()).await,
+                    }
+                    self.last_toggle = now;
+                }
+            }
+        })
+    }
+}
@@ -0,0 +1,57 @@
+use super::Actor;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use std::{
+    future::Future,
+    pin::Pin,
+    time::{Duration, Instant},
+};
+
+/// Set a series of digital outputs high in sequence with a given interval
+pub struct DigitalOutputBlinkers {
+    last_toggle: Instant,
+    outputs: Vec<Option<DigitalOutput>>,
+    index: usize,
+    interval: Duration,
+    enabled: bool,
+    amount: usize,
+}
+
+impl DigitalOutputBlinkers {
+    pub fn new(outputs: Vec<Option<DigitalOutput>>, interval: Duration, amount: usize) -> Self {
+        Self {
+            last_toggle: Instant::now(),
+            outputs,
+            interval,
+            enabled: true,
+            index: 0,
+            amount,
+        }
+    }
+
+    pub fn set_interval(&mut self, interval: Duration) {
+        self.interval = interval;
+    }
+
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+}
+
+impl Actor for DigitalOutputBlinkers {
+    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            if now - self.last_toggle > self.interval {
+                if let Some(output) = &self.outputs[self.index] {
+                    (output.write)(true.into()).await;
+                }
+                let index_end =
+                    (self.index + self.outputs.len() - self.amount) % self.outputs.len();
+                if let Some(output) = &self.outputs[index_end] {
+                    (output.write)(false.into()).await;
+                }
+                self.last_toggle = now;
+                self.index = (self.index + 1) % self.outputs.len();
+            }
+        })
+    }
+}
@@ -0,0 +1,38 @@
+use super::Actor;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Set a digital output high and low with a given interval
+#[derive(Debug)]
+pub struct DigitalOutputSetter {
+    output: DigitalOutput,
+    enabled: bool,
+}
+
+impl DigitalOutputSetter {
+    pub fn new(output: DigitalOutput) -> Self {
+        Self {
+            output,
+            enabled: false,
+        }
+    }
+    pub fn set(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+    pub fn get(&self) -> bool {
+        self.enabled
+    }
+    pub fn toggle(&mut self) {
+        self.enabled = !self.enabled;
+    }
+}
+
+impl Actor for DigitalOutputSetter {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            {
+                (self.output.write)(self.enabled.into()).await;
+            }
+        })
+    }
+}
@@ -0,0 +1,666 @@
+use super::Actor;
+use crate::modbus::{
+    ModbusFunctionCode, ModbusRequest, ModbusResponse, calculate_modbus_rtu_timeout,
+};
+use bitvec::{order::Lsb0, slice::BitSlice};
+use ethercat_hal::io::serial_interface::{SerialEncoding, SerialInterface};
+use std::{
+    collections::HashMap,
+    pin::Pin,
+    time::{Duration, Instant},
+    u16,
+};
+use uom::{
+    ConstZero,
+    si::{f64::Frequency, frequency::centihertz},
+};
+
+#[derive(Debug)]
+pub enum State {
+    /// WaitingForResponse is set after sending a request through the serial_interface
+    WaitingForResponse,
+    /// After Sending a Resuest we need to wait atleast one ethercat cycle
+    /// After one Cycle we check if el6021 status has transmit accepted toggled
+    /// Then we can set state = ReadyToSend
+    WaitingForRequestAccept,
+    /// After Receiving a Response we need to wait atleast one ethercat cycle
+    /// After one Cycle we check if el6021 status has received accepted toggled
+    WaitingForReceiveAccept,
+    /// ReadyToSend is set after receiving the response from the serial_interface
+    ReadyToSend,
+    /// Initial State
+    Uninitialized,
+}
+
+#[derive(Debug)]
+pub enum OperationMode {
+    PU,
+    EXT,
+    NET,
+}
+
+impl MitsubishiInverterRS485Actor {
+    pub fn convert_hz_float_to_word(&mut self, value: Frequency) -> u16 {
+        let scaled = value.get::<centihertz>(); // Convert Hz to 0.01 Hz units
+        scaled.round() as u16
+    }
+
+    pub fn set_frequency_target(&mut self, frequency: Frequency) {
+        let mut request: MitsubishiModbusRequest =
+            MitsubishiControlRequests::WriteRunningFrequency.into();
+        let result: u16 = self.convert_hz_float_to_word(frequency); // convert hz float to short
+        request.request.data[2] = result.to_le_bytes()[1];
+        request.request.data[3] = result.to_le_bytes()[0];
+        self.add_request(request);
+    }
+
+    pub fn read_running_frequency() {
+        // Check if the current element pushed to front is freq event
+    }
+
+    pub fn switch_operation_mode() {}
+}
+
+/// Specifies all System environmet Variables
+/// Register addresses are calculated as follows: Register-value 40002 -> address: 40002-40001 -> address:0x1
+enum MitsubishiSystemRegister {
+    /// Register 40002
+    InverterReset,
+    /// Register 40003
+    ParameterClear,
+    /// Register 40004
+    AllParameterClear,
+    /// Register 40006
+    ParamClearNonCommunication,
+    /// Register 40007
+    AllParameterClearNonCommunication,
+    /// Register 40009
+    InverterStatusAndControl,
+    /// Register 40010
+    OperationModeAndSetting,
+    /// Register 40014
+    RunningFrequencyRAM,
+    /// Register 40015
+    RunningFrequencyEEPROM,
+    /// Register 40201
+    MotorFrequency,
+}
+
+impl MitsubishiControlRequests {
+    fn get_system_register(value: MitsubishiSystemRegister) -> u16 {
+        match value {
+            MitsubishiSystemRegister::InverterReset => 0x1,
+            MitsubishiSystemRegister::ParameterClear => 0x2,
+            MitsubishiSystemRegister::AllParameterClear => 0x3,
+            MitsubishiSystemRegister::ParamClearNonCommunication => 0x5,
+            MitsubishiSystemRegister::AllParameterClearNonCommunication => 0x6,
+            MitsubishiSystemRegister::InverterStatusAndControl => 0x8,
+            MitsubishiSystemRegister::OperationModeAndSetting => 0x9,
+            MitsubishiSystemRegister::RunningFrequencyRAM => 0x0d,
+            MitsubishiSystemRegister::RunningFrequencyEEPROM => 0x0e,
+            MitsubishiSystemRegister::MotorFrequency => 0x00C8,
+        }
+    }
+}
+
+/*
+    MitsubishiModbusRequest get executed by their priority
+    Start and StopMotor are highest priority while writeRunningFrequency and readMotorFrequency are one lower
+    lets say we had StartMotor and readMotorFrequency the order of execution is:
+    1. StartMotor
+    2. readMotorFrequency
+
+    this is because StartMotor is higher priority
+    Since the events do not need to be pushed into a queue this makes the inverter operation more stable
+
+    Lets say one request "A" with priority 1 and one with 2 "B" are queued up, assume that request B is frequently used
+    1. Request "B" is executed due to higher priority
+    2. When B is added again request A has the same priority because it was ignored. B is executed once again
+    3. B is added again, now A has an effective priority of 3, which is higher then B
+*/
+impl From<MitsubishiControlRequests> for MitsubishiModbusRequest {
+    fn from(request: MitsubishiControlRequests) -> Self {
+        match request {
+            MitsubishiControlRequests::WriteRunningFrequency => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::RunningFrequencyRAM,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x0, 0x0],
+                    },
+                    request_type: RequestType::OperationCommand,
+                    expected_response_type: ResponseType::WriteFrequency,
+                    priority: u16::MAX - 1,
+                    control_request_type: MitsubishiControlRequests::WriteRunningFrequency,
+                    ignored_times: 0,
+                }
+            }
+            MitsubishiControlRequests::ReadInverterStatus => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterStatusAndControl,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::ReadHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x00, 0x01], // Read 1 register
+                    },
+                    request_type: RequestType::OperationCommand,
+                    expected_response_type: ResponseType::InverterStatus,
+                    // Priority is -6 because we do not want to know the status as frequently as the frequency, which is why its priority is lower
+                    // In essence this means for every fifth ReadMotorFrequency request an InverterStatus request is sent
+                    priority: u16::MAX - 6,
+                    control_request_type: MitsubishiControlRequests::ReadInverterStatus,
+                    ignored_times: 0,
+                }
+            }
+            MitsubishiControlRequests::StopMotor => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterStatusAndControl,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x00, 0x01], // Value 1 to stop
+                    },
+                    request_type: RequestType::OperationCommand,
+                    expected_response_type: ResponseType::InverterControl,
+                    priority: u16::MAX, // StopMotor should have highest priority
+                    control_request_type: MitsubishiControlRequests::StopMotor,
+                    ignored_times: 0,
+                }
+            }
+            MitsubishiControlRequests::StartForwardRotation => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterStatusAndControl,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0, 0b00000010], // Value 2 for forward rotation
+                    },
+                    request_type: RequestType::OperationCommand,
+                    expected_response_type: ResponseType::InverterControl,
+                    priority: u16::MAX - 1,
+                    control_request_type: MitsubishiControlRequests::StartForwardRotation,
+                    ignored_times: 0,
+                }
+            }
+            MitsubishiControlRequests::StartReverseRotation => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterStatusAndControl,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0, 0b00000100], // Value 4 for reverse rotation
+                    },
+                    request_type: RequestType::OperationCommand,
+                    expected_response_type: ResponseType::InverterControl,
+                    priority: u16::MAX - 1,
+                    control_request_type: MitsubishiControlRequests::StartReverseRotation,
+                    ignored_times: 0,
+                }
+            }
+            MitsubishiControlRequests::ReadRunningFrequency => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::RunningFrequencyRAM,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::ReadHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x00, 0x01], // Read 1 register
+                    },
+                    request_type: RequestType::OperationCommand,
+                    expected_response_type: ResponseType::ReadFrequency,
+                    priority: u16::MAX - 4,
+                    control_request_type: MitsubishiControlRequests::ReadRunningFrequency,
+                    ignored_times: 0,
+                }
+            }
+            MitsubishiControlRequests::ReadMotorFrequency => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::MotorFrequency,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::ReadHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x0, 0x1],
+                    },
+                    request_type: RequestType::OperationCommand,
+                    expected_response_type: ResponseType::ReadMotorFrequency,
+                    priority: u16::MAX - 2,
+                    control_request_type: MitsubishiControlRequests::ReadMotorFrequency,
+                    ignored_times: 0,
+                }
+            }
+            MitsubishiControlRequests::ResetInverter => {
+                let reg: u16 = MitsubishiControlRequests::get_system_register(
+                    MitsubishiSystemRegister::InverterReset,
+                );
+                let reg_bytes = reg.to_be_bytes();
+                MitsubishiModbusRequest {
+                    request: ModbusRequest {
+                        slave_id: 1,
+                        function_code: ModbusFunctionCode::PresetHoldingRegister,
+                        data: vec![reg_bytes[0], reg_bytes[1], 0x0, 0b00000001],
+                    },
+                    request_type: RequestType::Reset,
+                    expected_response_type: ResponseType::NoResponse,
+                    priority: u16::MAX,
+                    control_request_type: MitsubishiControlRequests::ResetInverter,
+                    ignored_times: 0,
+                }
+            }
+            MitsubishiControlRequests::ClearAllParameters => todo!(),
+            MitsubishiControlRequests::ClearNonCommunicationParameter => todo!(),
+            MitsubishiControlRequests::ClearNonCommunicationParameters => todo!(),
+            MitsubishiControlRequests::None => todo!(),
+        }
+    }
+}
+
+/// These Requests Serve as Templates for controling the inverter
+#[derive(Debug, Clone, Eq, Hash, PartialEq)]
+pub enum MitsubishiControlRequests {
+    None,
+    /// Register 40002, Reset/Restart the Inverter
+    ResetInverter,
+    /// Register 40004, Clear ALL parameters
+    ClearAllParameters,
+    /// Register 40006, Clear a non communication parameter
+    ClearNonCommunicationParameter,
+    /// Register 40007, Clear all Non Communication related Parameters
+    ClearNonCommunicationParameters,
+    /// Register 40009, Read Inverter Status
+    ReadInverterStatus,
+    /// Register 40009, Stops the Motor
+    StopMotor,
+    /// Register 40009, Starts the Motor in Forward Rotation
+    StartForwardRotation,
+    /// Register 40009, Starts the Motor in Reverse Rotation
+    StartReverseRotation,
+    /// Register 40014, Read the current frequency the motor runs at (RAM)
+    ReadRunningFrequency,
+    /// Register 40014, Write the frequency
+    WriteRunningFrequency,
+    /// Read Register 40201, This contains the actual output frequency
+    ReadMotorFrequency,
+}
+
+// We need to know from the request queue which events are of what operation type, so that the correct timeout can be used
+#[derive(Debug, Clone)]
+pub struct MitsubishiModbusRequest {
+    request: ModbusRequest,
+    control_request_type: MitsubishiControlRequests,
+    request_type: RequestType,
+    expected_response_type: ResponseType,
+    priority: u16,
+    ignored_times: u32,
+}
+
+#[derive(Debug)]
+pub enum RotationDirection {
+    Forward,
+    Backwards,
+    Stopped,
+}
+
+#[derive(Debug, Clone, Copy)]
+pub enum ResponseType {
+    NoResponse,
+    ReadFrequency,
+    ReadMotorFrequency, // Motor Frequency is the actual frequency, that the motor is running at right now
+    WriteFrequency,
+    InverterStatus,
+    InverterControl,
+}
+
+#[derive(Debug, Default)]
+
+pub struct MitsubishiInverterStatus {
+    pub running: bool,
+    pub forward_running: bool,
+    pub reverse_running: bool,
+    pub su: bool,
+    pub ol: bool,
+    pub no_function: bool,
+    pub fu: bool,
+    pub abc_: bool,
+
+    pub fault_occurence: bool,
+}
+
+#[derive(Debug)]
+pub struct MitsubishiInverterRS485Actor {
+    // Communication
+    pub serial_interface: SerialInterface,
+    pub baudrate: Option<u32>,
+    pub encoding: Option<SerialEncoding>,
+    pub request_map: HashMap<MitsubishiControlRequests, MitsubishiModbusRequest>,
+    pub response: Option<ModbusResponse>,
+
+    pub inverter_status: MitsubishiInverterStatus,
+
+    // State
+    pub last_ts: Instant,
+    pub last_message_size: usize,
+    pub last_request_type: RequestType,
+    pub last_control_request_type: MitsubishiControlRequests,
+    pub state: State,
+    pub next_response_type: ResponseType,
+    pub frequency: Frequency,
+}
+
+impl MitsubishiInverterRS485Actor {
+    pub fn new(serial_interface: SerialInterface) -> Self {
+        Self {
+            serial_interface,
+            last_ts: Instant::now(),
+            state: State::Uninitialized,
+            request_map: HashMap::new(),
+            response: None,
+            next_response_type: ResponseType::NoResponse,
+            last_request_type: RequestType::OperationCommand,
+            last_message_size: 0,
+            baudrate: None,
+            encoding: None,
+            frequency: Frequency::ZERO,
+            last_control_request_type: MitsubishiControlRequests::ResetInverter,
+            inverter_status: MitsubishiInverterStatus::default(),
+        }
+    }
+
+    /// This would get called by the api to add a new request to the inverter
+    pub fn add_request(&mut self, request: MitsubishiModbusRequest) {
+        // If a request already exists and its values get replaced, then use the olde requests ignored_times, to ensure its executed at some point
+        // Otherwise requests that are added frequently are never called, because new requests have ignored_times = 0
+        if self.request_map.contains_key(&request.control_request_type) {
+            // unwrap is safe here
+            let old_request = self.request_map.get(&request.control_request_type).unwrap();
+
+            let mut new_request = request.clone();
+            new_request.ignored_times = old_request.ignored_times;
+
+            self.request_map
+                .insert(request.control_request_type.clone(), new_request);
+        } else {
+            self.request_map
+                .insert(request.control_request_type.clone(), request);
+        }
+    }
+
+    /// This is used internally to read the receive buffer of the el6021
+    fn read_modbus_response(
+        &mut self,
+    ) -> Pin<Box<dyn Future<Output = Result<ModbusResponse, anyhow::Error>> + Send + '_>> {
+        Box::pin(async move {
+            let res: Option<Vec<u8>> = (self.serial_interface.read_message)().await;
+            let raw_response = match res {
+                Some(res) => res,
+                None => {
+                    vec![]
+                }
+            };
+
+            let response: Result<ModbusResponse, _> =
+                ModbusResponse::try_from(raw_response.clone());
+            match response {
+                Ok(result) => {
+                    self.last_message_size = result.clone().data.len() + 4;
+                    self.state = State::WaitingForReceiveAccept;
+                    Ok(result)
+                }
+                Err(_) => {
+                    self.last_message_size = 22;
+                    //                    self.state = State::WaitingForReceiveAccept;
+                    Err(anyhow::anyhow!("error"))
+                }
+            }
+        })
+    }
+
+    fn set_ignored_times_modbus_requests(&mut self) {
+        for (_, value) in self.request_map.iter_mut() {
+            value.ignored_times += 1;
+        }
+    }
+
+    /// This is used internally to fill the write buffer of the el6021 with the modbus request
+    /// Decides what requests to send first by finding the one with the highest priority
+    /// For example Highest Priority requests: ResetInverter StopMotor    
+    fn send_modbus_request(&mut self) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            if self.request_map.len() == 0 {
+                return;
+            };
+
+            let mut highest_prio_request: Option<&mut MitsubishiModbusRequest> = None;
+            let mut highest_priority: u32 = 0;
+
+            for (_, value) in self.request_map.iter_mut() {
+                // borrowchecker complaining
+                let priority = value.priority as u32;
+                let ignored_times = value.ignored_times;
+                let effective_priority: u32 = priority as u32 + ignored_times;
+
+                if effective_priority > highest_priority {
+                    highest_prio_request = Some(value);
+                    highest_priority = effective_priority;
+                }
+            }
+
+            let request = match highest_prio_request {
+                Some(request) => request,
+                None => return,
+            };
+            let modbus_request: Vec<u8> = request.request.clone().into();
+
+            let res = (self.serial_interface.write_message)(modbus_request.clone()).await;
+            match res {
+                Ok(_) => {
+                    self.next_response_type = request.expected_response_type;
+                    self.last_request_type = request.request_type;
+                    self.last_control_request_type = request.control_request_type.clone();
+                }
+                Err(_) => tracing::error!("ERROR: serial_interface.write_message has failed"),
+            }
+
+            self.state = State::WaitingForRequestAccept;
+            self.last_message_size = modbus_request.len();
+        })
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+pub enum RequestType {
+    None,
+    /// Monitoring, Operation (start,stop etc) command, frequency setting (RAM), less than 12 milliseconds timeout for Response
+    OperationCommand,
+    /// Parameter Read/Write and Frequency (EEPROM), Less than 30 milliseconds timeout for Response
+    ReadWrite,
+    /// Less than 5 seconds timeout for Response
+    ParamClear,
+    /// Supposedly no waiting time, however inverter takes a while to start ~300ms should be more than enough
+    Reset,
+}
+
+impl RequestType {
+    fn timeout_duration(self) -> Duration {
+        match self {
+            RequestType::OperationCommand => Duration::from_millis(12),
+            RequestType::ReadWrite => Duration::from_millis(30),
+            RequestType::ParamClear => Duration::from_millis(5000),
+            RequestType::Reset => Duration::from_millis(300),
+            RequestType::None => Duration::from_millis(12),
+        }
+    }
+}
+
+pub enum MitsubishiModbusExceptionCode {
+    IllegalFunction,
+    IllegalDataAddress,
+    IllegalDataValue,
+    None,
+}
+
+impl From<MitsubishiModbusExceptionCode> for u8 {
+    fn from(value: MitsubishiModbusExceptionCode) -> Self {
+        match value {
+            MitsubishiModbusExceptionCode::None => 0,
+            MitsubishiModbusExceptionCode::IllegalFunction => 1,
+            MitsubishiModbusExceptionCode::IllegalDataAddress => 2,
+            MitsubishiModbusExceptionCode::IllegalDataValue => 3,
+        }
+    }
+}
+
+impl From<u8> for MitsubishiModbusExceptionCode {
+    fn from(value: u8) -> Self {
+        match value {
+            1 => MitsubishiModbusExceptionCode::IllegalFunction,
+            2 => MitsubishiModbusExceptionCode::IllegalDataAddress,
+            3 => MitsubishiModbusExceptionCode::IllegalDataValue,
+            _ => MitsubishiModbusExceptionCode::None,
+        }
+    }
+}
+
+// Handle different Response types
+impl MitsubishiInverterRS485Actor {
+    fn handle_motor_frequency(&mut self, resp: ModbusResponse) {
+        let freq_bytes = &resp.data[1..3]; // bytes 1 and 2 are needed
+        let raw_frequency = u16::from_be_bytes([freq_bytes[0], freq_bytes[1]]) as f64;
+        self.frequency = Frequency::new::<centihertz>(raw_frequency);
+    }
+
+    fn handle_read_inverter_status(&mut self, resp: ModbusResponse) {
+        let status_bytes: [u8; 2] = resp.data[1..3].try_into().unwrap();
+        let bits: &BitSlice<u8, Lsb0> = BitSlice::<_, Lsb0>::from_slice(&status_bytes);
+        self.inverter_status = MitsubishiInverterStatus {
+            running: bits[8],
+            forward_running: bits[9],
+            reverse_running: bits[10],
+            su: bits[11],
+            ol: bits[12],
+            no_function: bits[13],
+            fu: bits[14],
+            abc_: bits[15],
+            fault_occurence: bits[7],
+        };
+    }
+
+    async fn handle_no_response(&mut self) {}
+
+    async fn handle_response(&mut self, resp: ModbusResponse) {
+        match self.next_response_type {
+            ResponseType::ReadFrequency => (),
+            ResponseType::WriteFrequency => (),
+            ResponseType::ReadMotorFrequency => self.handle_motor_frequency(resp),
+            ResponseType::InverterStatus => self.handle_read_inverter_status(resp),
+            ResponseType::InverterControl => (),
+            ResponseType::NoResponse => self.handle_no_response().await,
+        }
+    }
+}
+
+impl Actor for MitsubishiInverterRS485Actor {
+    fn act(&mut self, now_ts: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let elapsed: Duration = now_ts.duration_since(self.last_ts);
+            // State is uninitialized until serial interface init returns true, which takes a few cycles on the el6021
+            if let State::Uninitialized = self.state {
+                let res = (self.serial_interface.initialize)().await;
+                if res == true {
+                    self.state = State::ReadyToSend;
+                    // every time when our inverter is "Uninitialzed" reset it first to clear any error states it may have
+                    self.add_request(MitsubishiControlRequests::ResetInverter.into());
+                    self.baudrate = (self.serial_interface.get_baudrate)().await;
+                    self.encoding = (self.serial_interface.get_serial_encoding)().await;
+                    self.last_ts = now_ts;
+                    return;
+                } else {
+                    return;
+                }
+            }
+
+            let encoding = match self.encoding {
+                Some(encoding) => encoding,
+                None => return,
+            };
+
+            let baudrate = match self.baudrate {
+                Some(baudrate) => baudrate,
+                None => return,
+            };
+
+            let timeout = calculate_modbus_rtu_timeout(
+                encoding.total_bits(),
+                self.last_request_type.timeout_duration(),
+                baudrate,
+                self.last_message_size,
+            );
+
+            if elapsed < timeout {
+                return;
+            }
+
+            self.add_request(MitsubishiControlRequests::ReadMotorFrequency.into());
+            self.add_request(MitsubishiControlRequests::ReadInverterStatus.into());
+            self.last_ts = now_ts;
+
+            match self.state {
+                State::WaitingForResponse => {
+                    let ret = self.read_modbus_response().await;
+                    match ret {
+                        Ok(ret) => {
+                            self.handle_response(ret).await;
+                        }
+                        Err(_) => {
+                            if let MitsubishiControlRequests::ResetInverter =
+                                self.last_control_request_type
+                            {
+                                self.state = State::ReadyToSend;
+                            }
+                        }
+                    }
+
+                    self.next_response_type = ResponseType::NoResponse;
+                }
+                State::ReadyToSend => {
+                    self.send_modbus_request().await;
+                    self.request_map.remove(&self.last_control_request_type);
+                    self.set_ignored_times_modbus_requests();
+                }
+                State::WaitingForReceiveAccept => {
+                    _ = (self.serial_interface.read_finished)().await;
+                    self.state = State::ReadyToSend;
+                }
+                State::WaitingForRequestAccept => {
+                    let res = (self.serial_interface.write_finished)().await;
+                    if res == true {
+                        self.state = State::WaitingForResponse;
+                    }
+                }
+
+                _ => (),
+            }
+            self.response = None;
+        })
+    }
+}
@@ -0,0 +1,19 @@
+pub mod analog_function_generator;
+pub mod analog_input_getter;
+pub mod digital_input_getter;
+pub mod digital_input_logger;
+pub mod digital_output_blinker;
+pub mod digital_output_blinkers;
+pub mod digital_output_setter;
+pub mod mitsubishi_inverter_rs485;
+pub mod stepper_driver_el70x1;
+pub mod stepper_driver_max_speed;
+pub mod stepper_driver_pulse_train;
+pub mod temperature_input_getter;
+pub mod temperature_input_logger;
+
+use std::{pin::Pin, time::Instant};
+
+pub trait Actor: Send + Sync {
+    fn act(&mut self, now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>>;
+}
@@ -0,0 +1,91 @@
+use super::Actor;
+use core::panic;
+use ethercat_hal::{
+    helpers::el70xx_velocity_converter::EL70x1VelocityConverter,
+    io::stepper_velocity_el70x1::StepperVelocityEL70x1, shared_config::el70x1::EL70x1SpeedRange,
+};
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Set a digital output high and low with a given interval
+#[derive(Debug)]
+pub struct StepperDriverEL70x1 {
+    stepper: StepperVelocityEL70x1,
+    enabled: bool,
+    velocity: i16,
+    position: i128,
+    set_position: Option<i128>,
+    pub converter: EL70x1VelocityConverter,
+}
+
+impl StepperDriverEL70x1 {
+    pub fn new(stepper: StepperVelocityEL70x1, speed_range: &EL70x1SpeedRange) -> Self {
+        Self {
+            stepper,
+            enabled: false,
+            velocity: 0,
+            converter: EL70x1VelocityConverter::new(speed_range),
+            position: 0,
+            set_position: None,
+        }
+    }
+
+    /// Set the speed in steps per second
+    pub fn set_speed(&mut self, steps_per_second: i32) {
+        self.velocity = self.converter.steps_to_velocity(steps_per_second, true)
+    }
+
+    /// Get the speed in steps per second
+    pub fn get_speed(&self) -> i32 {
+        self.converter.velocity_to_steps(self.velocity, true) as i32
+    }
+
+    /// Enable or disable the stepper
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+
+    /// Get the enabled state of the stepper
+    pub fn is_enabled(&self) -> bool {
+        self.enabled
+    }
+
+    /// Get the current position of the stepper
+    pub fn get_position(&self) -> i128 {
+        self.position
+    }
+
+    /// Set the position of the stepper
+    pub fn set_position(&mut self, position: i128) {
+        self.set_position = Some(position);
+    }
+}
+
+impl Actor for StepperDriverEL70x1 {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = match (self.stepper.state)().await {
+                Ok(state) => state,
+                Err(e) => {
+                    panic!("Error while reading StepperVelocity {:?}", e);
+                }
+            };
+            // set the input
+            self.position = state.input.counter_value;
+
+            let mut output = state.output.clone();
+
+            // set the output
+            output.enable = self.enabled;
+            output.velocity = self.velocity;
+            output.set_counter = self.set_position.take();
+
+            // write the output
+            match (self.stepper.write)(output).await {
+                Ok(_) => {}
+                Err(e) => {
+                    panic!("Error while writing StepperVelocity {:?}", e);
+                }
+            }
+        })
+    }
+}
@@ -0,0 +1,37 @@
+use super::Actor;
+use ethercat_hal::io::digital_output::DigitalOutput;
+use std::{
+    future::Future,
+    pin::Pin,
+    sync::{Arc, RwLock},
+    time::Instant,
+};
+
+/// Set a digital output high and low with a given interval
+pub struct StepperDriverMaxSpeed {
+    pulse: DigitalOutput,
+}
+
+impl StepperDriverMaxSpeed {
+    pub fn new(output: DigitalOutput) -> Self {
+        Self { pulse: output }
+    }
+}
+
+impl Actor for StepperDriverMaxSpeed {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.pulse.state)().await;
+            match state.output.into() {
+                true => (self.pulse.write)(false.into()).await,
+                false => (self.pulse.write)(true.into()).await,
+            }
+        })
+    }
+}
+
+impl From<StepperDriverMaxSpeed> for Arc<RwLock<StepperDriverMaxSpeed>> {
+    fn from(actor: StepperDriverMaxSpeed) -> Self {
+        Arc::new(RwLock::new(actor))
+    }
+}
@@ -0,0 +1,222 @@
+/// Translates the encoder value to a larger space and handle underflow/overflow situations
+#[derive(Debug)]
+pub struct Encoder {
+    pub position: i64,
+    pub last_encoder_position: u32,
+}
+
+impl Encoder {
+    pub fn new() -> Self {
+        Self {
+            position: 0,
+            last_encoder_position: 0,
+        }
+    }
+
+    pub fn update(&mut self, counter_value: u32, counter_overflow: bool, counter_underflow: bool) {
+        // Handle overflow case
+        if counter_overflow {
+            // When overflow occurs, the counter wraps from MAX to 0
+            // Calculate how much it moved past MAX
+            let delta = counter_value as i64;
+            // Add the remaining distance from last position to MAX, plus the overflow amount
+            self.position += (u32::MAX - self.last_encoder_position) as i64 + 1 + delta;
+        }
+        // Handle underflow case
+        else if counter_underflow {
+            // When underflow occurs, the counter wraps from 0 to MAX
+            // Calculate how much it moved below 0
+            let delta = (u32::MAX - counter_value) as i64;
+            // Subtract the distance from last position to 0, plus the underflow amount
+            self.position -= self.last_encoder_position as i64 + 1 + delta;
+        }
+        // Normal case - no overflow/underflow
+        else {
+            // Calculate the signed difference between current and last position
+            let delta = counter_value as i64 - self.last_encoder_position as i64;
+            // Update the position
+            self.position += delta;
+        }
+
+        // Update the last encoder position for next time
+        self.last_encoder_position = counter_value;
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    /// Tests that the position tracker correctly handles normal forward movement
+    /// without any overflow conditions.
+    ///
+    /// This test verifies:
+    /// 1. Initial state is zeroed
+    /// 2. Moving forward updates both position and last_encoder_position
+    /// 3. Consecutive forward movements accumulate correctly
+    #[test]
+    fn test_normal_forward_movement() {
+        let mut tracker = Encoder::new();
+
+        // Initial state
+        assert_eq!(tracker.position, 0);
+        assert_eq!(tracker.last_encoder_position, 0);
+
+        // Move forward by 100
+        tracker.update(100, false, false);
+        assert_eq!(tracker.position, 100);
+        assert_eq!(tracker.last_encoder_position, 100);
+
+        // Move forward by another 50
+        tracker.update(150, false, false);
+        assert_eq!(tracker.position, 150);
+        assert_eq!(tracker.last_encoder_position, 150);
+    }
+
+    /// Tests that the position tracker correctly handles normal backward movement
+    /// without any underflow conditions.
+    ///
+    /// This test verifies:
+    /// 1. Starting from a non-zero position
+    /// 2. Moving backward updates both position and last_encoder_position
+    /// 3. Consecutive backward movements accumulate correctly
+    #[test]
+    fn test_normal_backward_movement() {
+        let mut tracker = Encoder::new();
+
+        // Start at position 1000
+        tracker.position = 1000;
+        tracker.last_encoder_position = 1000;
+
+        // Move backward by 100
+        tracker.update(900, false, false);
+        assert_eq!(tracker.position, 900);
+        assert_eq!(tracker.last_encoder_position, 900);
+
+        // Move backward by another 50
+        tracker.update(850, false, false);
+        assert_eq!(tracker.position, 850);
+        assert_eq!(tracker.last_encoder_position, 850);
+    }
+
+    /// Tests that the position tracker correctly handles overflow conditions
+    /// where the encoder counter wraps from near its maximum value to a small value.
+    ///
+    /// This test verifies:
+    /// 1. When overflow flag is set, the tracker correctly calculates the true movement
+    /// 2. Position is updated to account for the full distance traveled
+    /// 3. last_encoder_position is updated to the new counter value
+    #[test]
+    fn test_overflow() {
+        let mut tracker = Encoder::new();
+
+        // Set position near the maximum u32 value
+        tracker.position = 100;
+        tracker.last_encoder_position = u32::MAX - 10;
+
+        // Overflow: counter goes from (MAX-10) to 5
+        // This means we moved forward by 10 steps to MAX, then 1 step to overflow,
+        // then 5 more steps to reach the current position
+        tracker.update(5, true, false);
+
+        // Expected: position += (10 + 1 + 5) = position += 16
+        assert_eq!(tracker.position, 116);
+        assert_eq!(tracker.last_encoder_position, 5);
+    }
+
+    /// Tests that the position tracker correctly handles underflow conditions
+    /// where the encoder counter wraps from near zero to a value near its maximum.
+    ///
+    /// This test verifies:
+    /// 1. When underflow flag is set, the tracker correctly calculates the true movement
+    /// 2. Position is updated to account for the full distance traveled (in negative direction)
+    /// 3. last_encoder_position is updated to the new counter value
+    #[test]
+    fn test_underflow() {
+        let mut tracker = Encoder::new();
+
+        // Set position near zero
+        tracker.position = 100;
+        tracker.last_encoder_position = 10;
+
+        // Underflow: counter goes from 10 to (MAX-5)
+        // This means we moved backward by 10 steps to 0, then 1 step to underflow,
+        // then 5 more steps to reach the current position
+        tracker.update(u32::MAX - 5, false, true);
+
+        // Expected: position -= (10 + 1 + 5) = position -= 16
+        assert_eq!(tracker.position, 84);
+        assert_eq!(tracker.last_encoder_position, u32::MAX - 5);
+    }
+
+    /// Tests that the position tracker maintains correct behavior across
+    /// a sequence of different operations including normal movement,
+    /// overflow, and underflow.
+    ///
+    /// This test verifies:
+    /// 1. The tracker maintains state correctly between operations
+    /// 2. Different types of movements can be handled in sequence
+    /// 3. Position calculations remain accurate throughout various scenarios
+    #[test]
+    fn test_multiple_operations() {
+        let mut tracker = Encoder::new();
+
+        // Normal forward
+        tracker.update(100, false, false);
+        assert_eq!(tracker.position, 100);
+
+        // Normal backward
+        tracker.update(50, false, false);
+        assert_eq!(tracker.position, 50);
+
+        // Overflow
+        tracker.last_encoder_position = u32::MAX - 5;
+        tracker.position = 50; // Reset for clarity
+        tracker.update(10, true, false);
+        assert_eq!(tracker.position, 66); // 50 + (5 + 1 + 10)
+
+        // Underflow
+        tracker.last_encoder_position = 5;
+        tracker.position = 100; // Reset for clarity
+        tracker.update(u32::MAX - 10, false, true);
+        assert_eq!(tracker.position, 84); // 100 - (5 + 1 + 10)
+    }
+
+    /// Tests that the position tracker can handle multiple overflow and underflow
+    /// events, maintaining an accurate position count that exceeds the u32 range.
+    ///
+    /// This test verifies:
+    /// 1. Multiple overflow events accumulate correctly in the i64 position
+    /// 2. Multiple underflow events correctly subtract from the position
+    /// 3. The i64 position field properly extends the range beyond u32 limits
+    #[test]
+    fn test_large_movements() {
+        let mut tracker = Encoder::new();
+
+        // Test tracking beyond u32 limits with multiple overflows
+        for _ in 0..5 {
+            // Simulate overflow: move from (MAX-100) to 100
+            tracker.last_encoder_position = u32::MAX - 100;
+            tracker.update(100, true, false);
+
+            // Each iteration adds (100 + 1 + 100) = 201 to position
+            // We move 100 steps to MAX, 1 step to overflow, and 100 more steps to reach 100
+        }
+
+        // After 5 iterations, position should be 5 * 201 = 1005
+        assert_eq!(tracker.position, 1005);
+
+        // Test tracking with multiple underflows
+        for _ in 0..3 {
+            // Simulate underflow: move from 100 to (MAX-100)
+            tracker.last_encoder_position = 100;
+            tracker.update(u32::MAX - 100, false, true);
+
+            // Each iteration subtracts (100 + 1 + 100) = 201 from position
+            // We move 100 steps to 0, 1 step to underflow, and 100 more steps to reach MAX-100
+        }
+
+        // Final position: 1005 - (3 * 201) = 1005 - 603 = 402
+        assert_eq!(tracker.position, 402);
+    }
+}
@@ -0,0 +1,51 @@
+use super::Actor;
+use encoder::Encoder;
+use ethercat_hal::io::pulse_train_output::PulseTrainOutput;
+use std::{future::Future, pin::Pin, time::Instant};
+
+pub mod encoder;
+
+/// Set a digital output high and low with a given interval
+#[derive(Debug)]
+pub struct StepperDriverPulseTrain {
+    pulse: PulseTrainOutput,
+    encoder: Encoder,
+    frequency: i32,
+}
+
+impl<'ptodevice> StepperDriverPulseTrain {
+    pub fn new(output: PulseTrainOutput) -> Self {
+        Self {
+            pulse: output,
+            encoder: Encoder::new(),
+            frequency: 0,
+        }
+    }
+}
+
+impl<'ptodevice> Actor for StepperDriverPulseTrain {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.pulse.state)().await;
+            let mut output = state.output.clone();
+
+            // sync the counter to the encoder
+            self.encoder.update(
+                state.input.counter_value,
+                state.input.counter_overflow,
+                state.input.counter_underflow,
+            );
+
+            // write frequency
+            output.frequency_value = self.frequency;
+
+            (self.pulse.write)(output).await;
+        })
+    }
+}
+
+impl<'ptodevice> StepperDriverPulseTrain {
+    pub fn set_frequency(&mut self, frequency: i32) {
+        self.frequency = frequency;
+    }
+}
@@ -0,0 +1,43 @@
+use std::{pin::Pin, time::Instant};
+
+use ethercat_hal::io::temperature_input::TemperatureInput;
+
+use super::Actor;
+
+#[derive(Debug)]
+pub struct TemperatureInputGetter {
+    input: TemperatureInput,
+    temperature: f64,
+    wiring_error: bool,
+}
+
+impl TemperatureInputGetter {
+    pub fn new(input: TemperatureInput) -> Self {
+        Self {
+            input,
+            temperature: 0.0,
+            wiring_error: false,
+        }
+    }
+
+    pub fn get_temperature(&self) -> f64 {
+        self.temperature
+    }
+
+    pub fn get_wiring_error(&self) -> bool {
+        self.wiring_error
+    }
+}
+
+impl Actor for TemperatureInputGetter {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let input = (self.input.state)().await.input;
+            self.temperature = input.temperature as f64;
+            self.wiring_error = input.overvoltage | input.undervoltage;
+            if self.wiring_error {
+                self.temperature = 0.0;
+            }
+        })
+    }
+}
@@ -0,0 +1,23 @@
+use super::Actor;
+use ethercat_hal::io::temperature_input::TemperatureInput;
+use std::{future::Future, pin::Pin, time::Instant};
+
+/// Log the state of a temperature input
+pub struct TemperatureInputLogger {
+    input: TemperatureInput,
+}
+
+impl TemperatureInputLogger {
+    pub fn new(input: TemperatureInput) -> Self {
+        Self { input }
+    }
+}
+
+impl Actor for TemperatureInputLogger {
+    fn act(&mut self, _now: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
+        Box::pin(async move {
+            let state = (self.input.state)().await;
+            println!("TemperatureInputLogger: {:?}C", state.input.temperature);
+        })
+    }
+}
@@ -1,218 +0,0 @@
-use std::time::Instant;
-
-#[derive(Debug)]
-pub struct ClampingTimeagnosticPidController {
-    // Params
-    /// Proportional gain
-    kp: f64,
-    /// Integral gain
-    ki: f64,
-    /// Derivative gain
-    kd: f64,
-    // State
-    /// Proportional error
-    ep: f64,
-    /// Integral error
-    ei: f64,
-    /// Derivative error
-    ed: f64,
-
-    min_ep: Option<f64>,
-    max_ep: Option<f64>,
-
-    min_ei: Option<f64>,
-    max_ei: Option<f64>,
-
-    min_ed: Option<f64>,
-    max_ed: Option<f64>,
-
-    min_signal: Option<f64>,
-    max_signal: Option<f64>,
-
-    last: Option<Instant>,
-}
-
-impl ClampingTimeagnosticPidController {
-    pub const fn new(
-        kp: f64,
-        ki: f64,
-        kd: f64,
-        min_ep: Option<f64>,
-        max_ep: Option<f64>,
-        min_ei: Option<f64>,
-        max_ei: Option<f64>,
-        min_ed: Option<f64>,
-        max_ed: Option<f64>,
-        min_signal: Option<f64>,
-        max_signal: Option<f64>,
-    ) -> Self {
-        Self {
-            kp,
-            ki,
-            kd,
-            ep: 0.0,
-            ei: 0.0,
-            ed: 0.0,
-            last: None,
-            min_ep,
-            max_ep,
-            min_ei,
-            max_ei,
-            min_ed,
-            max_ed,
-            min_signal,
-            max_signal,
-        }
-    }
-
-    pub const fn simple_new(kp: f64, ki: f64, kd: f64) -> Self {
-        Self {
-            kp,
-            ki,
-            kd,
-            ep: 0.0,
-            ei: 0.0,
-            ed: 0.0,
-            min_ep: None,
-            max_ep: None,
-            min_ei: None,
-            max_ei: None,
-            min_ed: None,
-            max_ed: None,
-            last: None,
-            min_signal: None,
-            max_signal: None,
-        }
-    }
-
-    pub const fn get_kp(&self) -> f64 {
-        self.kp
-    }
-
-    pub const fn get_ki(&self) -> f64 {
-        self.ki
-    }
-
-    pub const fn get_kd(&self) -> f64 {
-        self.kd
-    }
-
-    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
-        self.reset();
-        self.kp = kp;
-        self.ki = ki;
-        self.kd = kd;
-    }
-
-    pub const fn optional_clamp(value: f64, min: Option<f64>, max: Option<f64>) -> f64 {
-        match (min, max) {
-            (Some(min), Some(max)) => value.clamp(min, max),
-            (Some(min), None) => value.max(min),
-            (None, Some(max)) => value.min(max),
-            (None, None) => value,
-        }
-    }
-
-    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        match self.last {
-            // First update
-            None => {
-                // Calculate error
-                let ep = error;
-
-                // Calculate signal
-                let signal = self.kp * ep;
-                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);
-
-                // Set values
-                self.ep = Self::optional_clamp(ep, self.min_ep, self.max_ep);
-                self.ei = 0.0;
-                self.ed = 0.0;
-                self.last = Some(t);
-
-                clamped_signal
-            }
-            // Subsequent updates
-            Some(last) => {
-                // Calculate the time delta in seconds
-                let dt = t.duration_since(last).as_secs_f64();
-
-                // Calculate errors
-                let ep = Self::optional_clamp(error, self.min_ep, self.max_ep);
-
-                let ei = Self::optional_clamp(ep.mul_add(dt, self.ei), self.min_ei, self.max_ei);
-
-                let ed = Self::optional_clamp((ep - self.ep) / dt, self.min_ed, self.max_ed);
-
-                // Make factors timeagnostic
-                let kp = self.kp * dt;
-                let ki = self.ki * dt;
-                let kd = self.kd * dt;
-
-                // Calculate signal
-                let signal = kd.mul_add(ed, kp.mul_add(ep, ki * ei));
-                let clamped_signal = Self::optional_clamp(signal, self.min_signal, self.max_signal);
-
-                // Set values
-                self.ep = ep;
-                self.ei = ei;
-                self.ed = ed;
-                self.last = Some(t);
-
-                clamped_signal
-            }
-        }
-    }
-
-    pub const fn reset(&mut self) {
-        self.ep = 0.0;
-        self.ei = 0.0;
-        self.ed = 0.0;
-        self.last = None;
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::controllers::clamping_timeagnostic_pid::ClampingTimeagnosticPidController;
-
-    #[test]
-    fn test_optional_clamp_with_both_bounds() {
-        let val = 5.0;
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(1.0), Some(4.0));
-        assert_eq!(clamped, 4.0);
-
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(6.0), Some(10.0));
-        assert_eq!(clamped, 6.0);
-
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(2.0), Some(6.0));
-        assert_eq!(clamped, 5.0);
-    }
-
-    #[test]
-    fn test_optional_clamp_with_only_min() {
-        let val = 3.0;
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(5.0), None);
-        assert_eq!(clamped, 5.0);
-
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, Some(2.0), None);
-        assert_eq!(clamped, 3.0);
-    }
-
-    #[test]
-    fn test_optional_clamp_with_only_max() {
-        let val = 7.0;
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, None, Some(6.0));
-        assert_eq!(clamped, 6.0);
-
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, None, Some(8.0));
-        assert_eq!(clamped, 7.0);
-    }
-
-    #[test]
-    fn test_optional_clamp_with_no_bounds() {
-        let val = 42.0;
-        let clamped = ClampingTimeagnosticPidController::optional_clamp(val, None, None);
-        assert_eq!(clamped, 42.0);
-    }
-}
@@ -22,7 +22,7 @@ pub struct AccelerationSpeedController {
 }

 impl AccelerationSpeedController {
-    pub const fn new(
+    pub fn new(
        min_speed: Option<f64>,
        max_speed: Option<f64>,
        min_acceleration: f64,
@@ -44,10 +44,10 @@ impl AccelerationSpeedController {
    /// No speed limits are applied.
    pub fn new_simple(max_acceleration: f64, initial_speed: f64) -> Self {
        Self::new(
-            None,              // min_speed
-            None,              // max_speed
-            -max_acceleration, // min_acceleration (deceleration)
-            max_acceleration,  // max_acceleration
+            None,                    // min_speed
+            None,                    // max_speed
+            -max_acceleration,       // min_acceleration (deceleration)
+            max_acceleration,        // max_acceleration
            initial_speed,
        )
    }
@@ -98,16 +98,16 @@ impl AccelerationSpeedController {
        new_speed
    }

-    pub const fn reset(&mut self, initial_speed: f64) {
+    pub fn reset(&mut self, initial_speed: f64) {
        self.last_speed = initial_speed;
        self.last_t = None; // Reset the last update time
    }

-    pub const fn set_max_acceleration(&mut self, acceleration: f64) {
+    pub fn set_max_acceleration(&mut self, acceleration: f64) {
        self.max_acceleration = acceleration;
    }

-    const fn apply_speed_limits(&self, speed: f64) -> f64 {
+    fn apply_speed_limits(&self, speed: f64) -> f64 {
        let mut limited_speed = speed;

        if let Some(min) = self.min_speed {
@@ -121,23 +121,23 @@ impl AccelerationSpeedController {
        limited_speed
    }

-    pub const fn get_min_speed(&self) -> Option<f64> {
+    pub fn get_min_speed(&self) -> Option<f64> {
        self.min_speed
    }

-    pub const fn get_max_speed(&self) -> Option<f64> {
+    pub fn get_max_speed(&self) -> Option<f64> {
        self.max_speed
    }

-    pub const fn set_min_speed(&mut self, min_speed: Option<f64>) {
+    pub fn set_min_speed(&mut self, min_speed: Option<f64>) {
        self.min_speed = min_speed;
    }

-    pub const fn set_max_speed(&mut self, max_speed: Option<f64>) {
+    pub fn set_max_speed(&mut self, max_speed: Option<f64>) {
        self.max_speed = max_speed;
    }

-    pub const fn set_min_acceleration(&mut self, deceleration: f64) {
+    pub fn set_min_acceleration(&mut self, deceleration: f64) {
        self.min_acceleration = deceleration;
    }
 }
@@ -1,6 +1,6 @@
 use std::time::Instant;

-use units::{
+use uom::si::{
    angular_acceleration::radian_per_second_squared,
    angular_velocity::radian_per_second,
    f64::{AngularAcceleration, AngularVelocity},
@@ -37,15 +37,12 @@ impl AngularAccelerationSpeedController {
    /// Creates a new angular acceleration speed controller with simplified parameters.
    /// Sets min_acceleration to -max_acceleration for symmetric behavior.
    /// No speed limits are applied.
-    pub fn new_simple(
-        max_acceleration: AngularAcceleration,
-        initial_speed: AngularVelocity,
-    ) -> Self {
+    pub fn new_simple(max_acceleration: AngularAcceleration, initial_speed: AngularVelocity) -> Self {
        Self::new(
-            None,              // min_speed
-            None,              // max_speed
-            -max_acceleration, // min_acceleration (deceleration)
-            max_acceleration,  // max_acceleration
+            None,                    // min_speed
+            None,                    // max_speed
+            -max_acceleration,       // min_acceleration (deceleration)
+            max_acceleration,        // max_acceleration
            initial_speed,
        )
    }
@@ -53,7 +50,7 @@ impl AngularAccelerationSpeedController {
    pub fn update(&mut self, target_speed: AngularVelocity, t: Instant) -> AngularVelocity {
        let target_speed = target_speed.get::<radian_per_second>();
        let new_speed = self.controller.update(target_speed, t);
-        AngularVelocity::new::<radian_per_second>(new_speed)
+        return AngularVelocity::new::<radian_per_second>(new_speed);
    }

    pub fn reset(&mut self, initial_speed: AngularVelocity) {
@@ -73,13 +70,13 @@ impl AngularAccelerationSpeedController {
    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_min_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|s| AngularVelocity::new::<radian_per_second>(s))
    }

    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_max_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|s| AngularVelocity::new::<radian_per_second>(s))
    }

    pub fn set_min_speed(&mut self, min_speed: Option<AngularVelocity>) {
@@ -1,6 +1,6 @@
 use std::time::Instant;

-use units::{
+use uom::si::{
    acceleration::meter_per_second_squared,
    f64::{Acceleration, Velocity},
    velocity::meter_per_second,
@@ -38,17 +38,17 @@ impl LinearAccelerationLimitingController {
    /// No speed limits are applied.
    pub fn new_simple(acceleration: Acceleration, initial_speed: Velocity) -> Self {
        Self::new(
-            None,          // min_speed
-            None,          // max_speed
-            acceleration,  // acceleration
-            -acceleration, // deceleration (negative for deceleration)
+            None,           // min_speed
+            None,           // max_speed
+            acceleration,   // acceleration
+            -acceleration,  // deceleration (negative for deceleration)
            initial_speed,
        )
    }
    pub fn update(&mut self, target_speed: Velocity, t: Instant) -> Velocity {
        let target_speed = target_speed.get::<meter_per_second>();
        let new_speed = self.controller.update(target_speed, t);
-        Velocity::new::<meter_per_second>(new_speed)
+        return Velocity::new::<meter_per_second>(new_speed);
    }
    pub fn reset(&mut self, initial_speed: Velocity) {
        let initial_speed = initial_speed.get::<meter_per_second>();
@@ -65,12 +65,12 @@ impl LinearAccelerationLimitingController {
    pub fn get_min_speed(&self) -> Option<Velocity> {
        self.controller
            .get_min_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|s| Velocity::new::<meter_per_second>(s))
    }
    pub fn get_max_speed(&self) -> Option<Velocity> {
        self.controller
            .get_max_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|s| Velocity::new::<meter_per_second>(s))
    }
    pub fn set_min_speed(&mut self, min_speed: Option<Velocity>) {
        self.controller
@@ -1,4 +1,4 @@
-pub mod clamping_timeagnostic_pid;
 pub mod first_degree_motion;
 pub mod pid;
 pub mod second_degree_motion;
+pub mod timeagnostic_pid;
@@ -9,6 +9,7 @@ pub struct PidController {
    ki: f64,
    /// Derivative gain
    kd: f64,
+
    // State
    /// Proportional error
    ep: f64,
@@ -21,7 +22,7 @@ pub struct PidController {
 }

 impl PidController {
-    pub const fn new(kp: f64, ki: f64, kd: f64) -> Self {
+    pub fn new(kp: f64, ki: f64, kd: f64) -> Self {
        Self {
            kp,
            ki,
@@ -33,27 +34,27 @@ impl PidController {
        }
    }

-    pub const fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
+    pub fn configure(&mut self, ki: f64, kp: f64, kd: f64) {
        self.reset();
        self.kp = kp;
        self.ki = ki;
        self.kd = kd;
    }

-    pub const fn get_kp(&self) -> f64 {
+    pub fn get_kp(&self) -> f64 {
        self.kp
    }

-    pub const fn get_ki(&self) -> f64 {
+    pub fn get_ki(&self) -> f64 {
        self.ki
    }

-    pub const fn get_kd(&self) -> f64 {
+    pub fn get_kd(&self) -> f64 {
        self.kd
    }

    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
-        match self.last {
+        let signal = match self.last {
            // First update
            None => {
                // Calculate error
@@ -65,7 +66,6 @@ impl PidController {
                // Set values
                self.ep = ep;
                self.ei = 0.0;
-
                self.ed = 0.0;
                self.last = Some(t);

@@ -78,11 +78,11 @@ impl PidController {

                // Calculate errors
                let ep = error;
-                let ei = ep.mul_add(dt, self.ei);
+                let ei = self.ei + ep * dt;
                let ed = (ep - self.ep) / dt;

                // Calculate signal
-                let signal = self.kd.mul_add(ed, self.kp.mul_add(ep, self.ki * ei));
+                let signal = self.kp * ep + self.ki * ei + self.kd * ed;

                // Set values
                self.ep = ep;
@@ -92,10 +92,12 @@ impl PidController {

                signal
            }
-        }
+        };
+
+        signal
    }

-    pub const fn reset(&mut self) {
+    pub fn reset(&mut self) {
        self.ep = 0.0;
        self.ei = 0.0;
        self.ed = 0.0;
@@ -3,7 +3,7 @@ use std::fmt;
 // Remove the anyhow::Ok import as it conflicts with std::result::Ok

 /// Errors that can occur when creating or using the motion controller
-#[derive(Debug, Clone, PartialEq, Eq)]
+#[derive(Debug, Clone, PartialEq)]
 pub enum MotionControllerError {
    InvalidSpeedLimits,
    InvalidAccelerationLimits,
@@ -14,25 +14,25 @@ pub enum MotionControllerError {
 impl fmt::Display for MotionControllerError {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
-            Self::InvalidSpeedLimits => {
+            MotionControllerError::InvalidSpeedLimits => {
                write!(
                    f,
                    "Invalid speed limits: min_speed must be ≤ 0 and max_speed must be ≥ 0"
                )
            }
-            Self::InvalidAccelerationLimits => {
+            MotionControllerError::InvalidAccelerationLimits => {
                write!(
                    f,
                    "Invalid acceleration limits: min_acceleration must be < 0 and max_acceleration must be > 0"
                )
            }
-            Self::InvalidPositionLimits => {
+            MotionControllerError::InvalidPositionLimits => {
                write!(
                    f,
                    "Invalid position limits: min_position must be ≤ max_position"
                )
            }
-            Self::ZeroDeceleration => {
+            MotionControllerError::ZeroDeceleration => {
                write!(
                    f,
                    "Zero deceleration rate: cannot plan motion without deceleration capability"
@@ -148,7 +148,7 @@ struct MotionConstants {
 }

 /// Represents the current phase of motion
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+#[derive(Debug, Clone, Copy, PartialEq)]
 pub enum MotionPhase {
    Idle,
    IncreasingSpeed,
@@ -170,7 +170,7 @@ pub struct ControllerBuilder {

 impl ControllerBuilder {
    /// Create a new builder
-    pub const fn new() -> Self {
+    pub fn new() -> Self {
        Self {
            min_speed: None,
            max_speed: None,
@@ -184,36 +184,28 @@ impl ControllerBuilder {
    }

    /// Set speed limits (min_speed ≤ 0, max_speed ≥ 0)
-    pub const fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
+    pub fn speed_limits(mut self, min_speed: f64, max_speed: f64) -> Self {
        self.min_speed = Some(min_speed);
        self.max_speed = Some(max_speed);
        self
    }

    /// Set acceleration limits (min_acceleration < 0, max_acceleration > 0)
-    pub const fn acceleration_limits(
-        mut self,
-        min_acceleration: f64,
-        max_acceleration: f64,
-    ) -> Self {
+    pub fn acceleration_limits(mut self, min_acceleration: f64, max_acceleration: f64) -> Self {
        self.min_acceleration = Some(min_acceleration);
        self.max_acceleration = Some(max_acceleration);
        self
    }

    /// Set position limits (optional)
-    pub const fn position_limits(
-        mut self,
-        min_position: Option<f64>,
-        max_position: Option<f64>,
-    ) -> Self {
+    pub fn position_limits(mut self, min_position: Option<f64>, max_position: Option<f64>) -> Self {
        self.min_position = min_position;
        self.max_position = max_position;
        self
    }

    /// Set tolerances for position and speed comparisons
-    pub const fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
+    pub fn tolerances(mut self, position_tolerance: f64, speed_tolerance: f64) -> Self {
        self.position_tolerance = position_tolerance;
        self.speed_tolerance = speed_tolerance;
        self
@@ -330,7 +322,7 @@ impl AccelerationPositionController {

        let motion_constants = Self::calculate_motion_constants(&config);

-        Ok(Self {
+        Ok(AccelerationPositionController {
            config,
            current_position: 0.0,
            current_speed: 0.0,
@@ -374,19 +366,19 @@ impl AccelerationPositionController {
        }

        Self::new(
-            -speed,                     // min_speed
-            speed,                      // max_speed
-            -acceleration,              // min_acceleration
-            acceleration,               // max_acceleration
-            position.map(|p| -p.abs()), // min_position
-            position.map(|p| p.abs()),  // max_position
-            1e-6,                       // position_tolerance (default)
-            1e-6,                       // speed_tolerance (default)
+            -speed,               // min_speed
+            speed,                // max_speed
+            -acceleration,        // min_acceleration
+            acceleration,         // max_acceleration
+            position.map(|p| -p), // min_position
+            position.map(|p| p),  // max_position
+            1e-6,                 // position_tolerance (default)
+            1e-6,                 // speed_tolerance (default)
        )
    }

    /// Create a new builder for the controller
-    pub const fn builder() -> ControllerBuilder {
+    pub fn builder() -> ControllerBuilder {
        ControllerBuilder::new()
    }

@@ -572,10 +564,8 @@ impl AccelerationPositionController {

        // Calculate distance needed to reach cruise speed from current speed
        let speed_change_distance = if current_speed_in_direction < cruise_speed.abs() {
-            current_speed_in_direction.max(0.0).mul_add(
-                -current_speed_in_direction.max(0.0),
-                cruise_speed.abs().powi(2),
-            ) / (2.0 * acceleration_rate)
+            (cruise_speed.abs().powi(2) - current_speed_in_direction.max(0.0).powi(2))
+                / (2.0 * acceleration_rate)
        } else {
            0.0
        };
@@ -589,10 +579,8 @@ impl AccelerationPositionController {
            // Using corrected kinematic equation: v_peak² = v_current² + 2*a*d_total*a_accel*a_decel/(a_accel + a_decel)
            let accel_decel_factor =
                (acceleration_rate * deceleration_rate) / (acceleration_rate + deceleration_rate);
-            let discriminant = current_speed_in_direction.max(0.0).mul_add(
-                current_speed_in_direction.max(0.0),
-                2.0 * abs_position_change * accel_decel_factor,
-            );
+            let discriminant = current_speed_in_direction.max(0.0).powi(2)
+                + 2.0 * abs_position_change * accel_decel_factor;

            if discriminant >= 0.0 {
                self.peak_speed = discriminant.sqrt() * cruise_speed.signum();
@@ -646,7 +634,7 @@ impl AccelerationPositionController {
                self.current_acceleration = self.config.max_acceleration * self.direction as f64;

                // Update speed
-                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);
+                let new_speed = self.current_speed + self.current_acceleration * dt;

                // Check if we've reached peak speed
                if (self.direction > 0 && new_speed >= self.peak_speed)
@@ -677,7 +665,7 @@ impl AccelerationPositionController {
                self.current_acceleration = self.config.min_acceleration * self.direction as f64;

                // Update speed
-                let new_speed = self.current_acceleration.mul_add(dt, self.current_speed);
+                let new_speed = self.current_speed + self.current_acceleration * dt;

                // Check if we've reached zero speed or target
                if (self.current_speed > 0.0 && new_speed <= 0.0)
@@ -701,7 +689,7 @@ impl AccelerationPositionController {
        }

        // Update position based on current speed
-        let new_position = self.current_speed.mul_add(dt, self.current_position);
+        let new_position = self.current_position + self.current_speed * dt;

        // Check position limits and handle violations
        let mut position_limited = false;
@@ -754,7 +742,7 @@ impl AccelerationPositionController {
    ///
    /// Returns the current position of the controlled object.
    /// This value is updated with each call to `update()`.
-    pub const fn get_position(&self) -> f64 {
+    pub fn get_position(&self) -> f64 {
        self.current_position
    }

@@ -763,7 +751,7 @@ impl AccelerationPositionController {
    /// Returns the current speed (velocity) of the controlled object.
    /// Positive values indicate motion towards increasing position,
    /// negative values indicate motion towards decreasing position.
-    pub const fn get_speed(&self) -> f64 {
+    pub fn get_speed(&self) -> f64 {
        self.current_speed
    }

@@ -771,32 +759,32 @@ impl AccelerationPositionController {
    ///
    /// Returns the current acceleration of the controlled object.
    /// Positive values indicate increasing speed, negative values indicate decreasing speed.
-    pub const fn get_acceleration(&self) -> f64 {
+    pub fn get_acceleration(&self) -> f64 {
        self.current_acceleration
    }

    /// Get the target position
-    pub const fn get_target_position(&self) -> f64 {
+    pub fn get_target_position(&self) -> f64 {
        self.target_position
    }

    /// Get the current motion phase
-    pub const fn get_motion_phase(&self) -> MotionPhase {
+    pub fn get_motion_phase(&self) -> MotionPhase {
        self.motion_phase
    }

    /// Get the direction of motion
-    pub const fn get_direction(&self) -> i8 {
+    pub fn get_direction(&self) -> i8 {
        self.direction
    }

    /// Get the calculated peak speed for current motion
-    pub const fn get_peak_speed(&self) -> f64 {
+    pub fn get_peak_speed(&self) -> f64 {
        self.peak_speed
    }

    /// Get the position at which deceleration will begin
-    pub const fn get_deceleration_position(&self) -> f64 {
+    pub fn get_deceleration_position(&self) -> f64 {
        self.deceleration_position
    }

@@ -849,7 +837,7 @@ impl AccelerationPositionController {
    }

    /// Force the controller to stop at current position
-    pub const fn emergency_stop(&mut self) {
+    pub fn emergency_stop(&mut self) {
        self.target_position = self.current_position;
        self.current_speed = 0.0;
        self.current_acceleration = 0.0;
@@ -1018,32 +1006,32 @@ impl AccelerationPositionController {
    }

    /// Get the minimum speed limit
-    pub const fn get_min_speed(&self) -> f64 {
+    pub fn get_min_speed(&self) -> f64 {
        self.config.min_speed
    }

    /// Get the maximum speed limit
-    pub const fn get_max_speed(&self) -> f64 {
+    pub fn get_max_speed(&self) -> f64 {
        self.config.max_speed
    }

    /// Get the minimum acceleration limit
-    pub const fn get_min_acceleration(&self) -> f64 {
+    pub fn get_min_acceleration(&self) -> f64 {
        self.config.min_acceleration
    }

    /// Get the maximum acceleration limit
-    pub const fn get_max_acceleration(&self) -> f64 {
+    pub fn get_max_acceleration(&self) -> f64 {
        self.config.max_acceleration
    }

    /// Get the minimum position limit
-    pub const fn get_min_position(&self) -> Option<f64> {
+    pub fn get_min_position(&self) -> Option<f64> {
        self.config.min_position
    }

    /// Get the maximum position limit
-    pub const fn get_max_position(&self) -> Option<f64> {
+    pub fn get_max_position(&self) -> Option<f64> {
        self.config.max_position
    }

@@ -1080,17 +1068,17 @@ impl AccelerationPositionController {
    }

    /// Get the position tolerance
-    pub const fn get_position_tolerance(&self) -> f64 {
+    pub fn get_position_tolerance(&self) -> f64 {
        self.config.position_tolerance
    }

    /// Get the speed tolerance
-    pub const fn get_speed_tolerance(&self) -> f64 {
+    pub fn get_speed_tolerance(&self) -> f64 {
        self.config.speed_tolerance
    }

    /// Set tolerances for position and speed comparisons
-    pub const fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
+    pub fn set_tolerances(&mut self, position_tolerance: f64, speed_tolerance: f64) {
        self.config.position_tolerance = position_tolerance;
        self.config.speed_tolerance = speed_tolerance;
    }
@@ -1,6 +1,6 @@
 use std::time::Instant;

-use units::{
+use uom::si::{
    angle::radian,
    angular_acceleration::radian_per_second_squared,
    angular_velocity::radian_per_second,
@@ -102,12 +102,16 @@ impl AngularAccelerationPositionController {

    /// Get the minimum angle position limit
    pub fn get_min_position(&self) -> Option<Angle> {
-        self.controller.get_min_position().map(Angle::new::<radian>)
+        self.controller
+            .get_min_position()
+            .map(|angle| Angle::new::<radian>(angle))
    }

    /// Get the maximum angle position limit
    pub fn get_max_position(&self) -> Option<Angle> {
-        self.controller.get_max_position().map(Angle::new::<radian>)
+        self.controller
+            .get_max_position()
+            .map(|angle| Angle::new::<radian>(angle))
    }

    /// Set the minimum angle position limit
@@ -199,8 +203,8 @@ impl AngularAccelerationPositionController {
    /// # Example
    /// ```ignore
    /// use control_core::controllers::second_degree_motion::angular_acceleration_position_controller::AngularAccelerationPositionController;
-    /// use units::f64::Angle;
-    /// use units::angle::degree;
+    /// use uom::si::f64::Angle;
+    /// use uom::si::angle::degree;
    ///
    /// let mut controller = AngularAccelerationPositionController::new_simple(
    ///     Some(Angle::new::<degree>(180.0)),
@@ -1,6 +1,6 @@
 use std::time::Instant;

-use units::{
+use uom::si::{
    angular_acceleration::radian_per_second_squared,
    angular_jerk::radian_per_second_cubed,
    angular_velocity::radian_per_second,
@@ -23,7 +23,7 @@ use super::jerk_speed_controller::JerkSpeedController;
 ///
 /// # Example
 /// ```ignore
-/// use units::{
+/// use uom::si::{
 ///     angular_velocity::revolution_per_minute,
 ///     angular_acceleration::revolution_per_minute_per_second,
 ///     angular_jerk::revolution_per_minute_per_second_squared,
@@ -65,7 +65,7 @@ impl AngularJerkSpeedController {
    ///
    /// # Example
    /// ```ignore
-    /// use units::{
+    /// use uom::si::{
    ///     angular_velocity::revolution_per_minute,
    ///     angular_acceleration::revolution_per_minute_per_second,
    ///     angular_jerk::revolution_per_minute_per_second_squared,
@@ -127,7 +127,7 @@ impl AngularJerkSpeedController {
    ///
    /// # Example
    /// ```ignore
-    /// use units::{
+    /// use uom::si::{
    ///     angular_velocity::revolution_per_minute,
    ///     angular_acceleration::revolution_per_minute_per_second,
    ///     angular_jerk::revolution_per_minute_per_second_squared,
@@ -185,7 +185,7 @@ impl AngularJerkSpeedController {
    /// # Example
    /// ```ignore
    /// use std::time::Instant;
-    /// use units::{angular_velocity::revolution_per_minute, f64::AngularVelocity};
+    /// use uom::si::{angular_velocity::revolution_per_minute, f64::AngularVelocity};
    ///
    /// let mut controller = AngularJerkSpeedController::new_simple(/* ... */);
    /// let target = AngularVelocity::new::<revolution_per_minute>(1500.0);
@@ -236,7 +236,7 @@ impl AngularJerkSpeedController {
    pub fn get_min_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_min_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
    }

    /// Get the maximum angular velocity limit
@@ -248,7 +248,7 @@ impl AngularJerkSpeedController {
    pub fn get_max_speed(&self) -> Option<AngularVelocity> {
        self.controller
            .get_max_speed()
-            .map(AngularVelocity::new::<radian_per_second>)
+            .map(|speed| AngularVelocity::new::<radian_per_second>(speed))
    }

    /// Set the minimum angular velocity limit
@@ -88,7 +88,7 @@ impl JerkSpeedController {
        )
        .expect("Failed to create AccelerationPositionController");

-        Self { base_controller }
+        JerkSpeedController { base_controller }
    }

    /// Create a new speed controller with simple symmetric limits
@@ -183,7 +183,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current speed as a floating-point value
-    pub const fn get_speed(&self) -> f64 {
+    pub fn get_speed(&self) -> f64 {
        self.base_controller.get_position()
    }

@@ -193,7 +193,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current acceleration as a floating-point value
-    pub const fn get_acceleration(&self) -> f64 {
+    pub fn get_acceleration(&self) -> f64 {
        self.base_controller.get_speed()
    }

@@ -203,7 +203,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Current jerk as a floating-point value
-    pub const fn get_jerk(&self) -> f64 {
+    pub fn get_jerk(&self) -> f64 {
        self.base_controller.get_acceleration()
    }

@@ -213,7 +213,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Target speed as a floating-point value
-    pub const fn get_target_speed(&self) -> f64 {
+    pub fn get_target_speed(&self) -> f64 {
        self.base_controller.get_target_position()
    }

@@ -223,7 +223,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Minimum speed limit as an Option<f64>, None if no limit is set
-    pub const fn get_min_speed(&self) -> Option<f64> {
+    pub fn get_min_speed(&self) -> Option<f64> {
        self.base_controller.get_min_position()
    }

@@ -233,7 +233,7 @@ impl JerkSpeedController {
    ///
    /// # Returns
    /// Maximum speed limit as an Option<f64>, None if no limit is set
-    pub const fn get_max_speed(&self) -> Option<f64> {
+    pub fn get_max_speed(&self) -> Option<f64> {
        self.base_controller.get_max_position()
    }

@@ -1,6 +1,6 @@
 use std::time::Instant;

-use units::{
+use uom::si::{
    acceleration::meter_per_second_squared,
    f64::{Acceleration, Length, Velocity},
    length::meter,
@@ -22,8 +22,8 @@ use super::acceleration_position_controller::{
 ///
 /// # Example
 /// ```ignore
-/// use units::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
-/// use units::f64::{Length, Velocity, Acceleration};
+/// use uom::si::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
+/// use uom::si::f64::{Length, Velocity, Acceleration};
 ///
 /// let position_limit = Length::new::<meter>(10.0);
 /// let max_speed = Velocity::new::<meter_per_second>(2.0);
@@ -101,8 +101,8 @@ impl LinearAccelerationPositionController {
    ///
    /// # Example
    /// ```ignore
-    /// use units::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
-    /// use units::f64::{Length, Velocity, Acceleration};
+    /// use uom::si::{length::meter, velocity::meter_per_second, acceleration::meter_per_second_squared};
+    /// use uom::si::f64::{Length, Velocity, Acceleration};
    ///
    /// let position_limit = Length::new::<meter>(5.0);  // Creates [-5.0, +5.0] meter range
    /// let max_speed = Velocity::new::<meter_per_second>(1.0);  // Creates [-1.0, +1.0] m/s range
@@ -150,7 +150,7 @@ impl LinearAccelerationPositionController {
    /// # Example
    /// ```ignore
    /// use std::time::Instant;
-    /// use units::{length::meter, f64::Length};
+    /// use uom::si::{length::meter, f64::Length};
    ///
    /// let mut controller = LinearAccelerationPositionController::new_simple(
    ///     Some(Length::new::<meter>(10.0)),
@@ -205,7 +205,9 @@ impl LinearAccelerationPositionController {
    /// # Returns
    /// Minimum position limit as an Option<Length>, None if no limit is set
    pub fn get_min_position(&self) -> Option<Length> {
-        self.controller.get_min_position().map(Length::new::<meter>)
+        self.controller
+            .get_min_position()
+            .map(|length| Length::new::<meter>(length))
    }

    /// Get the maximum position limit
@@ -215,7 +217,9 @@ impl LinearAccelerationPositionController {
    /// # Returns  
    /// Maximum position limit as an Option<Length>, None if no limit is set
    pub fn get_max_position(&self) -> Option<Length> {
-        self.controller.get_max_position().map(Length::new::<meter>)
+        self.controller
+            .get_max_position()
+            .map(|length| Length::new::<meter>(length))
    }

    /// Set the minimum position limit
@@ -375,7 +379,7 @@ impl LinearAccelerationPositionController {
    ///
    /// # Example
    /// ```ignore
-    /// use units::{length::meter, velocity::meter_per_second, f64::{Length, Velocity}};
+    /// use uom::si::{length::meter, velocity::meter_per_second, f64::{Length, Velocity}};
    ///
    /// let new_position = Length::new::<meter>(0.0);
    ///
@@ -1,6 +1,6 @@
 use std::time::Instant;

-use units::{
+use uom::si::{
    acceleration::meter_per_second_squared,
    f64::{Acceleration, Jerk, Velocity},
    jerk::meter_per_second_cubed,
@@ -23,7 +23,7 @@ use super::jerk_speed_controller::JerkSpeedController;
 ///
 /// # Example
 /// ```ignore
-/// use units::{
+/// use uom::si::{
 ///     velocity::meter_per_second,
 ///     acceleration::meter_per_second_squared,
 ///     jerk::meter_per_second_cubed,
@@ -65,7 +65,7 @@ impl LinearJerkSpeedController {
    ///
    /// # Example
    /// ```ignore
-    /// use units::{
+    /// use uom::si::{
    ///     velocity::meter_per_second,
    ///     acceleration::meter_per_second_squared,
    ///     jerk::meter_per_second_cubed,
@@ -127,7 +127,7 @@ impl LinearJerkSpeedController {
    ///
    /// # Example
    /// ```ignore
-    /// use units::{
+    /// use uom::si::{
    ///     velocity::meter_per_second,
    ///     acceleration::meter_per_second_squared,
    ///     jerk::meter_per_second_cubed,
@@ -195,14 +195,14 @@ impl LinearJerkSpeedController {
    pub fn get_min_speed(&self) -> Option<Velocity> {
        self.controller
            .get_min_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|speed| Velocity::new::<meter_per_second>(speed))
    }

    /// Get the maximum velocity limit
    pub fn get_max_speed(&self) -> Option<Velocity> {
        self.controller
            .get_max_speed()
-            .map(Velocity::new::<meter_per_second>)
+            .map(|speed| Velocity::new::<meter_per_second>(speed))
    }

    /// Set the minimum velocity limit
@@ -0,0 +1,92 @@
+use std::time::Instant;
+
+#[derive(Debug)]
+pub struct TimeagnosticPidController {
+    // Params
+    /// Proportional gain
+    kp: f64,
+    /// Integral gain
+    ki: f64,
+    /// Derivative gain
+    kd: f64,
+
+    // State
+    /// Proportional error
+    ep: f64,
+    /// Integral error
+    ei: f64,
+    /// Derivative error
+    ed: f64,
+
+    last: Option<Instant>,
+}
+
+impl TimeagnosticPidController {
+    pub fn new(kp: f64, ki: f64, kd: f64) -> Self {
+        Self {
+            kp,
+            ki,
+            kd,
+            ep: 0.0,
+            ei: 0.0,
+            ed: 0.0,
+            last: None,
+        }
+    }
+
+    pub fn update(&mut self, error: f64, t: Instant) -> f64 {
+        let signal = match self.last {
+            // First update
+            None => {
+                // Calculate error
+                let ep = error;
+
+                // Calculate signal
+                let signal = self.kp * ep;
+
+                // Set values
+                self.ep = ep;
+                self.ei = 0.0;
+                self.ed = 0.0;
+                self.last = Some(t);
+
+                signal
+            }
+            // Subsequent updates
+            Some(last) => {
+                // Calculate the time delta in seconds
+                let dt = t.duration_since(last).as_secs_f64();
+
+                // Calculate errors
+                let ep = error;
+                let ei = self.ei + ep * dt;
+                let ed = (ep - self.ep) / dt;
+
+                // Make factors timeagnostic
+                let kp = self.kp / dt;
+                let ki = self.ki / dt;
+                let kd = self.kd / dt;
+
+                // Calculate signal
+                let signal = kp * ep + ki * ei + kd * ed;
+
+                // Set values
+                self.ep = ep;
+                self.ei = ei;
+                self.ed = ed;
+                self.last = Some(t);
+
+                signal
+            }
+        };
+
+        signal
+    }
+
+    pub fn reset(&mut self) {
+        self.ep = 0.0;
+        self.ei = 0.0;
+        self.ed = 0.0;
+        self.last = None;
+    }
+}
@@ -1,6 +1,8 @@
-use units::{angle::radian, f64::Angle};
+use std::f32::consts::PI;

-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+use uom::si::angle::radian;
+
+#[derive(Debug, Clone, Copy, PartialEq)]
 pub struct AngleConverter {
    pub flip_x: bool, // true to flip X-axis (mirror horizontally)
    pub flip_y: bool, // true to flip Y-axis (mirror vertically)
@@ -9,7 +11,7 @@ pub struct AngleConverter {

 impl AngleConverter {
    /// Create a custom coordinate system
-    pub const fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
+    pub fn new(flip_x: bool, flip_y: bool, is_cw: bool) -> Self {
        Self {
            flip_x,
            flip_y,
@@ -18,52 +20,52 @@ impl AngleConverter {
    }

    /// Standard mathematical coordinate system (CCW positive, 0° at positive X)
-    pub const fn mathematical() -> Self {
+    pub fn mathematical() -> Self {
        Self::new(false, false, false)
    }

    /// Screen/graphics coordinate system (CW positive, 0° at positive X, Y-flipped)
-    pub const fn screen() -> Self {
+    pub fn screen() -> Self {
        Self::new(false, true, false)
    }

    /// System where 0° points up, clockwise positive
-    pub const fn y_up_cw() -> Self {
+    pub fn y_up_cw() -> Self {
        Self::new(false, false, true)
    }

    /// System where 0° points down, counter-clockwise positive
-    pub const fn y_down_ccw() -> Self {
+    pub fn y_down_ccw() -> Self {
        Self::new(false, true, true)
    }

    /// System where 0° points left, clockwise positive
-    pub const fn x_left_cw() -> Self {
+    pub fn x_left_cw() -> Self {
        Self::new(true, false, false)
    }

    /// System where 0° points right, counter-clockwise positive (same as mathematical)
-    pub const fn x_right_ccw() -> Self {
+    pub fn x_right_ccw() -> Self {
        Self::mathematical()
    }

    /// System where 0° points up, counter-clockwise positive
-    pub const fn y_up_ccw() -> Self {
+    pub fn y_up_ccw() -> Self {
        Self::new(false, false, false)
    }

    /// System where 0° points down, clockwise positive
-    pub const fn y_down_cw() -> Self {
+    pub fn y_down_cw() -> Self {
        Self::new(false, true, false)
    }

    /// System where 0° points left, counter-clockwise positive
-    pub const fn x_left_ccw() -> Self {
+    pub fn x_left_ccw() -> Self {
        Self::new(true, false, true)
    }

    /// Convert angle from mathematical system to this system (f32)
-    pub fn degrees_encode(&self, math_angle_degrees: f64) -> f64 {
+    pub fn degrees_encode(&self, math_angle_degrees: f32) -> f32 {
        let normalized_input = self.normalize_angle(math_angle_degrees);

        let mut result = normalized_input;
@@ -73,7 +75,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result += 180.0,          // Both flips: 180° rotation
+            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
        }

        // Handle rotation direction
@@ -85,7 +87,7 @@ impl AngleConverter {
    }

    /// Convert angle from this system to mathematical system (f32)
-    pub fn degrees_decode(&self, system_angle_degrees: f64) -> f64 {
+    pub fn degrees_decode(&self, system_angle_degrees: f32) -> f32 {
        let normalized_input = self.normalize_angle(system_angle_degrees);

        let mut result = normalized_input;
@@ -100,24 +102,24 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
+            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
        }

        self.normalize_angle(result)
    }

    /// Convert angle in radians from mathematical system to this system (f32)
-    pub fn radians_encode(&self, math_angle_radians: f64) -> f64 {
-        let degrees = math_angle_radians.to_degrees();
+    pub fn radians_encode(&self, math_angle_radians: f32) -> f32 {
+        let degrees = math_angle_radians * 180.0 / PI;
        let converted_degrees = self.degrees_encode(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * PI / 180.0
    }

    /// Convert angle in radians from this system to mathematical system (f32)
-    pub fn radians_decode(&self, system_angle_radians: f64) -> f64 {
-        let degrees = system_angle_radians.to_degrees();
+    pub fn radians_decode(&self, system_angle_radians: f32) -> f32 {
+        let degrees = system_angle_radians * 180.0 / PI;
        let converted_degrees = self.degrees_decode(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * PI / 180.0
    }

    /// Convert angle from mathematical system to this system (f64)
@@ -131,7 +133,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result += 180.0,          // Both flips: 180° rotation
+            (true, true) => result = 180.0 + result,  // Both flips: 180° rotation
        }

        // Handle rotation direction
@@ -158,7 +160,7 @@ impl AngleConverter {
            (false, false) => {}                      // No change
            (true, false) => result = 180.0 - result, // X-flip: mirror across Y-axis
            (false, true) => result = -result,        // Y-flip: mirror across X-axis
-            (true, true) => result -= 180.0,          // Both flips: inverse 180° rotation
+            (true, true) => result = result - 180.0,  // Both flips: inverse 180° rotation
        }

        self.normalize_angle_f64(result)
@@ -166,20 +168,20 @@ impl AngleConverter {

    /// Convert angle in radians from mathematical system to this system (f64)
    pub fn radians_encode_f64(&self, math_angle_radians: f64) -> f64 {
-        let degrees = math_angle_radians.to_degrees();
+        let degrees = math_angle_radians * 180.0 / std::f64::consts::PI;
        let converted_degrees = self.degrees_encode_f64(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * std::f64::consts::PI / 180.0
    }

    /// Convert angle in radians from this system to mathematical system (f64)
    pub fn radians_decode_f64(&self, system_angle_radians: f64) -> f64 {
-        let degrees = system_angle_radians.to_degrees();
+        let degrees = system_angle_radians * 180.0 / std::f64::consts::PI;
        let converted_degrees = self.degrees_decode_f64(degrees);
-        converted_degrees.to_radians()
+        converted_degrees * std::f64::consts::PI / 180.0
    }

    /// Normalize angle to [0, 360) range (f32)
-    fn normalize_angle(&self, angle: f64) -> f64 {
+    fn normalize_angle(&self, angle: f32) -> f32 {
        let mut normalized = angle % 360.0;
        if normalized < 0.0 {
            normalized += 360.0;
@@ -203,23 +205,39 @@ pub struct AngleConverterUom {
 }

 impl AngleConverterUom {
-    pub const fn new(angle_converter: AngleConverter) -> Self {
+    pub fn new(angle_converter: AngleConverter) -> Self {
        Self { angle_converter }
    }

-    pub fn encode(&self, angle: Angle) -> Angle {
-        Angle::new::<radian>(self.angle_converter.radians_encode(angle.get::<radian>()))
+    pub fn encode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
+        uom::si::f32::Angle::new::<radian>(
+            self.angle_converter.radians_encode(angle.get::<radian>()),
+        )
    }

-    pub fn decode(&self, angle: Angle) -> Angle {
-        Angle::new::<radian>(self.angle_converter.radians_decode(angle.get::<radian>()))
+    pub fn decode(&self, angle: uom::si::f32::Angle) -> uom::si::f32::Angle {
+        uom::si::f32::Angle::new::<radian>(
+            self.angle_converter.radians_decode(angle.get::<radian>()),
+        )
+    }
+
+    pub fn encode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
+        uom::si::f64::Angle::new::<radian>(
+            self.angle_converter
+                .radians_encode_f64(angle.get::<radian>()),
+        )
+    }
+
+    pub fn decode_f64(&self, angle: uom::si::f64::Angle) -> uom::si::f64::Angle {
+        uom::si::f64::Angle::new::<radian>(
+            self.angle_converter
+                .radians_decode_f64(angle.get::<radian>()),
+        )
    }
 }

 #[cfg(test)]
 mod tests {
-    use std::f32::consts::PI;
-
    use super::*;

    #[test]
@@ -279,8 +297,8 @@ mod tests {
        let converter = AngleConverter::screen();

        // Test radians_encode
-        let result = converter.radians_encode(PI as f64 / 2.0) as f64; // 90° in radians
-        let expected: f64 = 270.0f64 * PI as f64 / 180.0f64; // 270° in radians
+        let result = converter.radians_encode(PI / 2.0); // 90° in radians
+        let expected = 270.0 * PI / 180.0; // 270° in radians
        assert!((result - expected).abs() < 1e-6);
    }

@@ -288,10 +306,10 @@ mod tests {
    fn test_roundtrip_conversion() {
        let converter = AngleConverter::new(true, false, true); // X-flip + CW

-        let original = 75.0_f64;
+        let original = 75.0_f32;
        let converted = converter.degrees_encode(original);
        let roundtrip = converter.degrees_decode(converted);

-        assert!((original - roundtrip as f64).abs() < 1e-6);
+        assert!((original - roundtrip).abs() < 1e-6);
    }
 }
@@ -1,4 +1,4 @@
-use units::{
+use uom::si::{
    angle::revolution,
    angular_acceleration::radian_per_second_squared,
    angular_velocity::revolution_per_second,
@@ -18,7 +18,7 @@ pub struct AngularStepConverter {

 impl AngularStepConverter {
    /// Create a new converter with the specified steps per revolution
-    pub const fn new(steps_per_revolution: i16) -> Self {
+    pub fn new(steps_per_revolution: i16) -> Self {
        Self {
            steps_per_revolution,
        }
@@ -90,7 +90,7 @@ mod tests {
    use super::*;
    use approx::assert_relative_eq;
    use std::f64::EPSILON;
-    use units::{
+    use uom::si::{
        angle::degree, angular_acceleration::degree_per_second_squared,
        angular_velocity::degree_per_second,
    };
@@ -1,279 +0,0 @@
-//! # Circular Converter
-//!
-//! This module provides the `CircularConverter` which handles transformations between
-//! linear and angular measurements for circular motion systems.
-//!
-//! ## Usage
-//!
-//! The `CircularConverter` is designed to work alongside other converters:
-//! - Use `AngularStepConverter` for angular-to-step conversions
-//! - Use `LinearStepConverter` for complete linear-to-step conversions (uses `CircularConverter` internally)
-//! - Use `CircularConverter` directly when you need linear-to-angular conversions without steps
-//!
-//! ## Examples
-//!
-//! ```rust
-//! use control_core::converters::circular_converter::CircularConverter;
-//! use units::{f64::{Length, Velocity}, length::meter, velocity::meter_per_second};
-//!
-//! let converter = CircularConverter::from_radius(Length::new::<meter>(0.1));
-//! let velocity = Velocity::new::<meter_per_second>(1.0);
-//! let angular_velocity = converter.linear_to_angular_velocity(velocity);
-//! ```
-
-use units::{
-    acceleration::meter_per_second_squared,
-    angle::radian,
-    angular_acceleration::radian_per_second_squared,
-    angular_velocity::radian_per_second,
-    f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
-    length::meter,
-    velocity::meter_per_second,
-};
-
-/// A converter that handles transformations between linear and angular measurements
-/// for circular motion. This includes conversions for position, velocity, acceleration,
-/// and higher-order derivatives based on a circle's geometric properties.
-#[derive(Debug, Clone)]
-pub struct CircularConverter {
-    radius: Length,
-    circumference: Length,
-    diameter: Length,
-}
-
-impl CircularConverter {
-    /// Create a new converter from radius
-    pub fn from_radius(radius: Length) -> Self {
-        let diameter = radius * 2.0;
-        let circumference =
-            Length::new::<meter>(2.0 * std::f64::consts::PI * radius.get::<meter>());
-        Self {
-            radius,
-            diameter,
-            circumference,
-        }
-    }
-
-    /// Create a new converter from diameter
-    pub fn from_diameter(diameter: Length) -> Self {
-        let radius = diameter / 2.0;
-        Self::from_radius(radius)
-    }
-
-    /// Create a new converter from circumference
-    pub fn from_circumference(circumference: Length) -> Self {
-        let radius =
-            Length::new::<meter>(circumference.get::<meter>() / (2.0 * std::f64::consts::PI));
-        Self::from_radius(radius)
-    }
-
-    /// Get the radius
-    pub fn radius(&self) -> Length {
-        self.radius
-    }
-
-    /// Get the diameter
-    pub fn diameter(&self) -> Length {
-        self.diameter
-    }
-
-    /// Get the circumference
-    pub fn circumference(&self) -> Length {
-        self.circumference
-    }
-
-    // Linear to Angular Position Conversions
-
-    /// Convert linear distance to angular position
-    /// Formula: angle = distance / radius
-    pub fn linear_to_angular_position(&self, distance: Length) -> Angle {
-        let angle_rad = distance.get::<meter>() / self.radius.get::<meter>();
-        Angle::new::<radian>(angle_rad)
-    }
-
-    /// Convert angular position to linear distance
-    /// Formula: distance = angle * radius
-    pub fn angular_to_linear_position(&self, angle: Angle) -> Length {
-        let distance = angle.get::<radian>() * self.radius.get::<meter>();
-        Length::new::<meter>(distance)
-    }
-
-    // Linear to Angular Velocity Conversions
-
-    /// Convert linear velocity to angular velocity
-    /// Formula: angular_velocity = linear_velocity / radius
-    pub fn linear_to_angular_velocity(&self, velocity: Velocity) -> AngularVelocity {
-        let angular_velocity_rad_per_s =
-            velocity.get::<meter_per_second>() / self.radius.get::<meter>();
-        AngularVelocity::new::<radian_per_second>(angular_velocity_rad_per_s)
-    }
-
-    /// Convert angular velocity to linear velocity
-    /// Formula: linear_velocity = angular_velocity * radius
-    pub fn angular_to_linear_velocity(&self, angular_velocity: AngularVelocity) -> Velocity {
-        let velocity = angular_velocity.get::<radian_per_second>() * self.radius.get::<meter>();
-        Velocity::new::<meter_per_second>(velocity)
-    }
-
-    // Linear to Angular Acceleration Conversions
-
-    /// Convert linear acceleration to angular acceleration
-    /// Formula: angular_acceleration = linear_acceleration / radius
-    pub fn linear_to_angular_acceleration(
-        &self,
-        acceleration: Acceleration,
-    ) -> AngularAcceleration {
-        let angular_acceleration_rad_per_s2 =
-            acceleration.get::<meter_per_second_squared>() / self.radius.get::<meter>();
-        AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2)
-    }
-
-    /// Convert angular acceleration to linear acceleration
-    /// Formula: linear_acceleration = angular_acceleration * radius
-    pub fn angular_to_linear_acceleration(
-        &self,
-        angular_acceleration: AngularAcceleration,
-    ) -> Acceleration {
-        let acceleration =
-            angular_acceleration.get::<radian_per_second_squared>() * self.radius.get::<meter>();
-        Acceleration::new::<meter_per_second_squared>(acceleration)
-    }
-
-    // Jerk Conversions (using f64 for now since UOM may not have jerk units)
-
-    /// Convert linear jerk to angular jerk
-    /// Formula: angular_jerk = linear_jerk / radius
-    /// Units: rad/s³ = (m/s³) / m
-    pub fn linear_to_angular_jerk(&self, linear_jerk: f64) -> f64 {
-        linear_jerk / self.radius.get::<meter>()
-    }
-
-    /// Convert angular jerk to linear jerk
-    /// Formula: linear_jerk = angular_jerk * radius
-    /// Units: m/s³ = (rad/s³) * m
-    pub fn angular_to_linear_jerk(&self, angular_jerk: f64) -> f64 {
-        angular_jerk * self.radius.get::<meter>()
-    }
-
-    // Arc Length Calculations
-
-    /// Calculate arc length from angle
-    /// Formula: arc_length = angle * radius
-    pub fn angle_to_arc_length(&self, angle: Angle) -> Length {
-        self.angular_to_linear_position(angle)
-    }
-
-    /// Calculate angle from arc length
-    /// Formula: angle = arc_length / radius
-    pub fn arc_length_to_angle(&self, arc_length: Length) -> Angle {
-        self.linear_to_angular_position(arc_length)
-    }
-
-    // Circumference-based calculations
-
-    /// Convert linear distance to number of revolutions
-    /// Formula: revolutions = distance / circumference
-    pub fn linear_distance_to_revolutions(&self, distance: Length) -> f64 {
-        distance.get::<meter>() / self.circumference.get::<meter>()
-    }
-
-    /// Convert number of revolutions to linear distance
-    /// Formula: distance = revolutions * circumference
-    pub fn revolutions_to_linear_distance(&self, revolutions: f64) -> Length {
-        Length::new::<meter>(revolutions * self.circumference.get::<meter>())
-    }
-
-    /// Convert linear velocity to revolutions per second
-    /// Formula: rps = velocity / circumference
-    pub fn linear_velocity_to_rps(&self, velocity: Velocity) -> f64 {
-        velocity.get::<meter_per_second>() / self.circumference.get::<meter>()
-    }
-
-    /// Convert revolutions per second to linear velocity
-    /// Formula: velocity = rps * circumference
-    pub fn rps_to_linear_velocity(&self, rps: f64) -> Velocity {
-        Velocity::new::<meter_per_second>(rps * self.circumference.get::<meter>())
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use units::length::centimeter;
-
-    #[test]
-    fn test_constructors() {
-        let radius = Length::new::<centimeter>(5.0);
-        let diameter = Length::new::<centimeter>(10.0);
-        let circumference = Length::new::<centimeter>(2.0 * std::f64::consts::PI * 5.0);
-
-        let converter1 = CircularConverter::from_radius(radius);
-        let converter2 = CircularConverter::from_diameter(diameter);
-        let converter3 = CircularConverter::from_circumference(circumference);
-
-        // All should have approximately the same values
-        assert!((converter1.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
-        assert!((converter2.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
-        assert!((converter3.radius().get::<centimeter>() - 5.0).abs() < 1e-10);
-
-        assert!((converter1.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
-        assert!((converter2.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
-        assert!((converter3.diameter().get::<centimeter>() - 10.0).abs() < 1e-10);
-    }
-
-    #[test]
-    fn test_position_conversions() {
-        let converter = CircularConverter::from_radius(Length::new::<meter>(1.0));
-
-        // Test linear to angular
-        let distance = Length::new::<meter>(std::f64::consts::PI);
-        let angle = converter.linear_to_angular_position(distance);
-        assert!((angle.get::<radian>() - std::f64::consts::PI).abs() < 1e-10);
-
-        // Test angular to linear
-        let angle = Angle::new::<radian>(std::f64::consts::PI / 2.0);
-        let distance = converter.angular_to_linear_position(angle);
-        assert!((distance.get::<meter>() - std::f64::consts::PI / 2.0).abs() < 1e-10);
-    }
-
-    #[test]
-    fn test_velocity_conversions() {
-        let converter = CircularConverter::from_radius(Length::new::<meter>(0.5));
-
-        // Test linear to angular
-        let velocity = Velocity::new::<meter_per_second>(1.0);
-        let angular_velocity = converter.linear_to_angular_velocity(velocity);
-        assert!((angular_velocity.get::<radian_per_second>() - 2.0).abs() < 1e-10);
-
-        // Test angular to linear
-        let angular_velocity = AngularVelocity::new::<radian_per_second>(4.0);
-        let velocity = converter.angular_to_linear_velocity(angular_velocity);
-        assert!((velocity.get::<meter_per_second>() - 2.0).abs() < 1e-10);
-    }
-
-    #[test]
-    fn test_revolution_conversions() {
-        let converter = CircularConverter::from_radius(Length::new::<meter>(1.0));
-
-        // One full revolution should equal circumference
-        let revolutions = 1.0;
-        let distance = converter.revolutions_to_linear_distance(revolutions);
-        assert!((distance.get::<meter>() - converter.circumference().get::<meter>()).abs() < 1e-10);
-
-        // Converting back should give 1 revolution
-        let calculated_revolutions = converter.linear_distance_to_revolutions(distance);
-        assert!((calculated_revolutions - 1.0).abs() < 1e-10);
-    }
-
-    #[test]
-    fn test_jerk_conversions() {
-        let converter = CircularConverter::from_radius(Length::new::<meter>(2.0));
-
-        let linear_jerk = 4.0; // m/s³
-        let angular_jerk = converter.linear_to_angular_jerk(linear_jerk);
-        assert!((angular_jerk - 2.0).abs() < 1e-10); // 4.0 / 2.0 = 2.0 rad/s³
-
-        let calculated_linear_jerk = converter.angular_to_linear_jerk(angular_jerk);
-        assert!((calculated_linear_jerk - linear_jerk).abs() < 1e-10);
-    }
-}
@@ -1,11 +1,14 @@
-use units::{
+use uom::si::{
+    acceleration::meter_per_second_squared,
    angle::revolution,
+    angular_acceleration::radian_per_second_squared,
    angular_velocity::revolution_per_second,
    f64::{Acceleration, Angle, AngularAcceleration, AngularVelocity, Length, Velocity},
+    length::meter,
+    velocity::meter_per_second,
 };

 use super::angular_step_converter::AngularStepConverter;
-use super::circular_converter::CircularConverter;

 /// Converts between linear measurements and motor steps
 ///
@@ -15,52 +18,57 @@ use super::circular_converter::CircularConverter;
 #[derive(Debug, Clone)]
 pub struct LinearStepConverter {
    angular_step_converter: AngularStepConverter,
-    circular_converter: CircularConverter,
+    radius: Length,
+    circumference: Length,
 }

 // Constructor and basic getters
 impl LinearStepConverter {
    /// Create a new converter from radius and steps per revolution
    pub fn from_radius(steps_per_revolution: i16, radius: Length) -> Self {
+        let circumference =
+            Length::new::<meter>(2.0 * std::f64::consts::PI * radius.get::<meter>());
        Self {
            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            circular_converter: CircularConverter::from_radius(radius),
+            radius,
+            circumference,
        }
    }

    /// Create a new converter from diameter and steps per revolution
    pub fn from_diameter(steps_per_revolution: i16, diameter: Length) -> Self {
-        Self {
-            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            circular_converter: CircularConverter::from_diameter(diameter),
-        }
+        let radius = diameter / 2.0;
+        Self::from_radius(steps_per_revolution, radius)
    }

    /// Create a new converter from circumference and steps per revolution
    pub fn from_circumference(steps_per_revolution: i16, circumference: Length) -> Self {
+        let radius =
+            Length::new::<meter>(circumference.get::<meter>() / (2.0 * std::f64::consts::PI));
        Self {
            angular_step_converter: AngularStepConverter::new(steps_per_revolution),
-            circular_converter: CircularConverter::from_circumference(circumference),
+            radius,
+            circumference,
        }
    }

    /// Get the radius used by the converter
    pub fn radius(&self) -> Length {
-        self.circular_converter.radius()
+        self.radius
    }

    /// Get the diameter of the system
    pub fn diameter(&self) -> Length {
-        self.circular_converter.diameter()
+        self.radius * 2.0
    }

    /// Get the circumference of the system
    pub fn circumference(&self) -> Length {
-        self.circular_converter.circumference()
+        self.circumference
    }

    /// Get the steps per revolution
-    pub const fn steps_per_revolution(&self) -> i16 {
+    pub fn steps_per_revolution(&self) -> i16 {
        self.angular_step_converter.steps_per_revolution
    }
 }
@@ -71,10 +79,8 @@ impl LinearStepConverter {
    ///
    /// Formula: steps = (distance / circumference) * steps_per_revolution
    pub fn distance_to_steps(&self, distance: Length) -> f64 {
-        // Convert distance to revolutions using CircularConverter
-        let revolutions = self
-            .circular_converter
-            .linear_distance_to_revolutions(distance);
+        // Convert distance to angle: angle = distance/circumference (in revolutions)
+        let revolutions = distance.get::<meter>() / self.circumference.get::<meter>();
        let angle = Angle::new::<revolution>(revolutions);

        // Convert angle to steps
@@ -88,19 +94,21 @@ impl LinearStepConverter {
        // Convert steps to angle
        let angle = self.angular_step_converter.steps_to_angle(steps);

-        // Convert angle to distance using CircularConverter
+        // Convert angle to distance: distance = angle * circumference
        let revolutions = angle.get::<revolution>();
-        self.circular_converter
-            .revolutions_to_linear_distance(revolutions)
+        let distance = revolutions * self.circumference.get::<meter>();
+
+        Length::new::<meter>(distance)
    }

    /// Convert linear velocity to steps/second
    ///
    /// Formula: steps/second = (velocity / circumference) * steps_per_revolution
    pub fn velocity_to_steps(&self, velocity: Velocity) -> f64 {
-        // Convert linear velocity to revolutions per second using CircularConverter
-        let rps = self.circular_converter.linear_velocity_to_rps(velocity);
-        let angular_velocity = AngularVelocity::new::<revolution_per_second>(rps);
+        // Convert linear velocity to angular velocity: ω = v/circumference (in rev/s)
+        let linear_velocity = velocity.get::<meter_per_second>();
+        let angular_velocity_rps = linear_velocity / self.circumference.get::<meter>();
+        let angular_velocity = AngularVelocity::new::<revolution_per_second>(angular_velocity_rps);

        // Convert angular velocity to steps/second
        self.angular_step_converter
@@ -116,19 +124,23 @@ impl LinearStepConverter {
            .angular_step_converter
            .steps_to_angular_velocity(steps_per_second);

-        // Convert angular velocity to linear velocity using CircularConverter
-        let rps = angular_velocity.get::<revolution_per_second>();
-        self.circular_converter.rps_to_linear_velocity(rps)
+        // Convert angular velocity to linear velocity: v = ω * circumference
+        let angular_velocity_rps = angular_velocity.get::<revolution_per_second>();
+        let linear_velocity = angular_velocity_rps * self.circumference.get::<meter>();
+
+        Velocity::new::<meter_per_second>(linear_velocity)
    }

    /// Convert linear acceleration to steps/second²
    ///
    /// Formula: steps/second² = (acceleration / radius) * (steps_per_revolution / (2π))
    pub fn acceleration_to_steps(&self, acceleration: Acceleration) -> f64 {
-        // Convert linear acceleration to angular acceleration using CircularConverter
-        let angular_acceleration = self
-            .circular_converter
-            .linear_to_angular_acceleration(acceleration);
+        // Convert linear acceleration to angular acceleration: α = a/r
+        let linear_acceleration = acceleration.get::<meter_per_second_squared>();
+        // Calculate angular acceleration in radians per second squared
+        let angular_acceleration_rad_per_s2 = linear_acceleration / self.radius.get::<meter>();
+        let angular_acceleration =
+            AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2);

        // Convert angular acceleration to steps/second²
        self.angular_step_converter
@@ -144,9 +156,12 @@ impl LinearStepConverter {
            .angular_step_converter
            .steps_to_angular_acceleration(steps_per_second_squared);

-        // Convert angular acceleration to linear acceleration using CircularConverter
-        self.circular_converter
-            .angular_to_linear_acceleration(angular_acceleration)
+        // Convert angular acceleration to linear acceleration: a = α * r
+        let angular_acceleration_rad_per_s2 =
+            angular_acceleration.get::<radian_per_second_squared>();
+        let linear_acceleration = angular_acceleration_rad_per_s2 * self.radius.get::<meter>();
+
+        Acceleration::new::<meter_per_second_squared>(linear_acceleration)
    }
 }

@@ -156,9 +171,7 @@ impl LinearStepConverter {
    ///
    /// Formula: angle (in revolutions) = distance / circumference
    pub fn distance_to_angle(&self, distance: Length) -> Angle {
-        let revolutions = self
-            .circular_converter
-            .linear_distance_to_revolutions(distance);
+        let revolutions = distance.get::<meter>() / self.circumference.get::<meter>();
        Angle::new::<revolution>(revolutions)
    }

@@ -167,24 +180,26 @@ impl LinearStepConverter {
    /// Formula: distance = angle (in revolutions) * circumference
    pub fn angle_to_distance(&self, angle: Angle) -> Length {
        let revolutions = angle.get::<revolution>();
-        self.circular_converter
-            .revolutions_to_linear_distance(revolutions)
+        let distance = revolutions * self.circumference.get::<meter>();
+        Length::new::<meter>(distance)
    }

    /// Convert linear velocity to angular velocity
    ///
    /// Formula: angular velocity (in rev/s) = velocity / circumference
    pub fn velocity_to_angular_velocity(&self, velocity: Velocity) -> AngularVelocity {
-        let rps = self.circular_converter.linear_velocity_to_rps(velocity);
-        AngularVelocity::new::<revolution_per_second>(rps)
+        let linear_velocity = velocity.get::<meter_per_second>();
+        let angular_velocity_rps = linear_velocity / self.circumference.get::<meter>();
+        AngularVelocity::new::<revolution_per_second>(angular_velocity_rps)
    }

    /// Convert angular velocity to linear velocity
    ///
    /// Formula: velocity = angular velocity (in rev/s) * circumference
    pub fn angular_velocity_to_velocity(&self, angular_velocity: AngularVelocity) -> Velocity {
-        let rps = angular_velocity.get::<revolution_per_second>();
-        self.circular_converter.rps_to_linear_velocity(rps)
+        let angular_velocity_rps = angular_velocity.get::<revolution_per_second>();
+        let linear_velocity = angular_velocity_rps * self.circumference.get::<meter>();
+        Velocity::new::<meter_per_second>(linear_velocity)
    }

    /// Convert linear acceleration to angular acceleration
@@ -194,8 +209,9 @@ impl LinearStepConverter {
        &self,
        acceleration: Acceleration,
    ) -> AngularAcceleration {
-        self.circular_converter
-            .linear_to_angular_acceleration(acceleration)
+        let linear_acceleration = acceleration.get::<meter_per_second_squared>();
+        let angular_acceleration_rad_per_s2 = linear_acceleration / self.radius.get::<meter>();
+        AngularAcceleration::new::<radian_per_second_squared>(angular_acceleration_rad_per_s2)
    }

    /// Convert angular acceleration to linear acceleration
@@ -205,8 +221,10 @@ impl LinearStepConverter {
        &self,
        angular_acceleration: AngularAcceleration,
    ) -> Acceleration {
-        self.circular_converter
-            .angular_to_linear_acceleration(angular_acceleration)
+        let angular_acceleration_rad_per_s2 =
+            angular_acceleration.get::<radian_per_second_squared>();
+        let linear_acceleration = angular_acceleration_rad_per_s2 * self.radius.get::<meter>();
+        Acceleration::new::<meter_per_second_squared>(linear_acceleration)
    }
 }

@@ -251,10 +269,6 @@ mod tests {
    use super::*;
    use approx::assert_relative_eq;
    use std::f64::EPSILON;
-    use units::{
-        acceleration::meter_per_second_squared, angular_acceleration::radian_per_second_squared,
-        length::meter, velocity::meter_per_second,
-    };

    #[test]
    fn test_new() {
@@ -1,5 +1,5 @@
 pub mod angle_converter;
 pub mod angular_step_converter;
-pub mod circular_converter;
 pub mod linear_step_converter;
 pub mod motor_converter;
+pub mod transmission_converter;
@@ -0,0 +1,22 @@
+use uom::si::f64::AngularVelocity;
+
+#[derive(Debug, Clone)]
+pub struct TransmissionConverter {
+    pub transmission_ratio: f64,
+}
+
+impl TransmissionConverter {
+    pub fn new() -> Self {
+        Self {
+            transmission_ratio: 34.0,
+        }
+    }
+
+    pub fn calculate_screw_output_rpm(&self, rpm: AngularVelocity) -> AngularVelocity {
+        rpm / self.transmission_ratio
+    }
+
+    pub fn calculate_screw_input_rpm(&self, screw_rpm: AngularVelocity) -> AngularVelocity {
+        screw_rpm * self.transmission_ratio
+    }
+}
@@ -1,36 +0,0 @@
-use anyhow::anyhow;
-use smol::lock::Mutex;
-use std::any::Any;
-use std::sync::Arc;
-
-pub trait Downcast<T> {
-    fn downcast(&self) -> Result<T, anyhow::Error>;
-}
-
-pub trait DowncastRef<T> {
-    fn downcast_ref(&self) -> Result<&T, anyhow::Error>;
-}
-
-impl<T: 'static, U: Any + 'static> Downcast<Arc<Mutex<T>>> for Arc<Mutex<U>> {
-    fn downcast(&self) -> Result<Arc<Mutex<T>>, anyhow::Error> {
-        // Acquire a read lock on the RwLock
-        let lock = self.lock_blocking();
-
-        // Check if the inner type can be downcasted to T
-        let any: &dyn Any = &*lock;
-
-        if any.is::<T>() {
-            // Clone the Arc and return it as the desired type
-            let cloned: Arc<Mutex<dyn Any>> = self.clone();
-
-            // Transmute the Arc to the desired type
-            unsafe {
-                let arc = Arc::from_raw(Arc::into_raw(cloned) as *const Mutex<T>);
-
-                Ok(arc)
-            }
-        } else {
-            Err(anyhow!("[{}::downcast] Downcast failed", module_path!()))
-        }
-    }
-}
@@ -1,127 +1,11 @@
-use std::fmt::Display;
-
-use serde::Deserialize;
-use serde::Serialize;
-
-/// Identifies a spacifi machine
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
-pub struct MachineIdentificationUnique {
-    pub machine_identification: MachineIdentification,
-    pub serial: u16,
-}
-
-impl MachineIdentificationUnique {
-    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
-        self.machine_identification.is_valid() && self.serial != 0
-    }
-}
-
-impl Display for MachineIdentificationUnique {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        write!(
-            f,
-            "{}/{}/{}",
-            self.machine_identification.vendor, self.machine_identification.machine, self.serial
-        )
-    }
-}
-
-/// Identifies a machine
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
-pub struct MachineIdentification {
-    pub vendor: u16,
-    pub machine: u16,
-}
-
-impl MachineIdentification {
-    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
-        self.vendor != 0 && self.machine != 0
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceMachineIdentification {
-    pub machine_identification_unique: MachineIdentificationUnique,
-    pub role: u16,
-}
-
-impl DeviceMachineIdentification {
-    /// Check if values are non-zero
-    pub const fn is_valid(&self) -> bool {
-        self.machine_identification_unique.is_valid()
-            && self
-                .machine_identification_unique
-                .machine_identification
-                .machine
-                != 0
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceIdentification {
-    pub device_machine_identification: Option<DeviceMachineIdentification>,
-    pub device_hardware_identification: DeviceHardwareIdentification,
-}
-
-impl From<DeviceIdentificationIdentified> for DeviceIdentification {
-    fn from(value: DeviceIdentificationIdentified) -> Self {
-        Self {
-            device_machine_identification: Some(value.device_machine_identification),
-            device_hardware_identification: value.device_hardware_identification,
-        }
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceIdentificationIdentified {
-    pub device_machine_identification: DeviceMachineIdentification,
-    pub device_hardware_identification: DeviceHardwareIdentification,
-}
-
-impl TryFrom<DeviceIdentification> for DeviceIdentificationIdentified {
-    type Error = anyhow::Error;
-
-    fn try_from(value: DeviceIdentification) -> Result<Self, Self::Error> {
-        let device_machine_identification =
-            value.device_machine_identification.ok_or(anyhow::anyhow!(
-                "[{}::DeviceIdentificationIdentified::try_from] No device machine identification",
-                module_path!()
-            ))?;
-
-        Ok(Self {
-            device_machine_identification,
-            device_hardware_identification: value.device_hardware_identification,
-        })
-    }
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub enum DeviceHardwareIdentification {
-    Ethercat(DeviceHardwareIdentificationEthercat),
-    Serial(DeviceHardwareIdentificationSerial),
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceHardwareIdentificationEthercat {
-    pub subdevice_index: usize,
-}
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq)]
-pub struct DeviceHardwareIdentificationSerial {
-    pub path: String,
-}
-
 use anyhow::Error;
 use anyhow::anyhow;
 use ethercat_hal::devices::ek1100::EK1100_IDENTITY_A;
 use ethercat_hal::devices::el1002::EL1002_IDENTITY_A;
 use ethercat_hal::devices::el1008::EL1008_IDENTITY_A;
 use ethercat_hal::devices::el2002::EL2002_IDENTITY_A;
-use ethercat_hal::devices::el2002::EL2002_IDENTITY_B;
 use ethercat_hal::devices::el2004::EL2004_IDENTITY_A;
 use ethercat_hal::devices::el2008::EL2008_IDENTITY_A;
-use ethercat_hal::devices::el2008::EL2008_IDENTITY_B;
 use ethercat_hal::devices::el2521::{
    EL2521_IDENTITY_0000_A, EL2521_IDENTITY_0000_B, EL2521_IDENTITY_0024_A,
 };
@@ -129,11 +13,8 @@ use ethercat_hal::devices::el2522::EL2522_IDENTITY_A;
 use ethercat_hal::devices::el3001::EL3001_IDENTITY_A;
 use ethercat_hal::devices::el3021::EL3021_IDENTITY_A;
 use ethercat_hal::devices::el3024::EL3024_IDENTITY_A;
-use ethercat_hal::devices::el3062_0030::EL3062_0030_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_A;
 use ethercat_hal::devices::el3204::EL3204_IDENTITY_B;
-use ethercat_hal::devices::el4002::EL4002_IDENTITY_A;
-use ethercat_hal::devices::el5152::EL5152_IDENTITY_A;
 use ethercat_hal::devices::el6021::{
    EL6021_IDENTITY_A, EL6021_IDENTITY_B, EL6021_IDENTITY_C, EL6021_IDENTITY_D,
 };
@@ -147,6 +28,10 @@ use ethercat_hal::helpers::ethercrab_types::{
 use ethercrab::MainDevice;
 use ethercrab::SubDeviceIdentity;

+use crate::machines::identification::DeviceMachineIdentification;
+use crate::machines::identification::MachineIdentification;
+use crate::machines::identification::MachineIdentificationUnique;
+
 #[derive(Debug)]
 pub struct MachineIdentificationAddresses {
    pub vendor_word: u16,
@@ -156,12 +41,7 @@ pub struct MachineIdentificationAddresses {
 }

 impl MachineIdentificationAddresses {
-    pub const fn new(
-        vendor_word: u16,
-        serial_word: u16,
-        machine_word: u16,
-        device_word: u16,
-    ) -> Self {
+    pub fn new(vendor_word: u16, serial_word: u16, machine_word: u16, device_word: u16) -> Self {
        Self {
            vendor_word,
            serial_word,
@@ -191,7 +71,7 @@ pub async fn read_device_identifications<'maindevice>(
 ) -> Vec<Result<DeviceMachineIdentification, Error>> {
    let mut result = Vec::new();
    for subdevice in subdevices.iter() {
-        let identification = machine_device_identification(subdevice, maindevice).await;
+        let identification = machine_device_identification(&subdevice, maindevice).await;
        result.push(identification);
    }
    result
@@ -338,37 +218,33 @@ pub async fn write_machine_device_identification<'maindevice, const MAX_PDI: usi

 /// Returns the EEPROM addresses for the machine device identification
 /// based on the subdevice's identity
-pub fn get_identification_addresses(
+pub fn get_identification_addresses<'maindevice>(
    subdevice_identity: &SubDeviceIdentity,
    subdevice_name: &str,
 ) -> Result<MachineIdentificationAddresses, Error> {
-    let identity_tuple = subdevice_identity_to_tuple(subdevice_identity);
+    let identity_tuple = subdevice_identity_to_tuple(&subdevice_identity);

    Ok(match identity_tuple {
        EK1100_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL1002_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL1008_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL2002_IDENTITY_A | EL2002_IDENTITY_B => MachineIdentificationAddresses::default(),
+        EL2002_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL2004_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL2008_IDENTITY_A | EL2008_IDENTITY_B => MachineIdentificationAddresses::default(),
+        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
+        EL2008_IDENTITY_A => MachineIdentificationAddresses::default(),
+        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL2521_IDENTITY_0000_A | EL2521_IDENTITY_0000_B | EL2521_IDENTITY_0024_A => {
            MachineIdentificationAddresses::default()
        }
        EL2522_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3001_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3021_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL3024_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3062_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL3204_IDENTITY_A | EL3204_IDENTITY_B => MachineIdentificationAddresses::default(),
-        EL4002_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL5152_IDENTITY_A => MachineIdentificationAddresses::default(),
-        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C | EL6021_IDENTITY_D => {
-            MachineIdentificationAddresses::default()
-        }
+        EL3021_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL7031_IDENTITY_A | EL7031_IDENTITY_B => MachineIdentificationAddresses::default(),
        EL7031_0030_IDENTITY_A => MachineIdentificationAddresses::default(),
        EL7041_0052_IDENTITY_A => MachineIdentificationAddresses::default(),
-
+        EL6021_IDENTITY_A | EL6021_IDENTITY_B | EL6021_IDENTITY_C | EL6021_IDENTITY_D => {
+            MachineIdentificationAddresses::default()
+        }
        _ => {
            // block_on(u16dump(&subdevice, maindevice, 0x00, 0xff))?;
            Err(anyhow!(
@@ -394,8 +270,8 @@ async fn u16dump<'maindevice>(
        words.push(subdevice.eeprom_read(maindevice, word).await?);
    }

-    println!(
-        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}",
+    print!(
+        "EEPROM dump for {} from 0x{:04x} to 0x{:04x}\n",
        subdevice.name(),
        start_byte / 2,
        end_byte / 2
@@ -410,7 +286,7 @@ fn u16print(start_byte: u16, end_byte: u16, data: Vec<u16>) {
    let table_start_word = start_byte & 0xfff0;
    let table_end_word = (end_byte & 0xfff0_u16) + 0x10_u16;

-    let rows = (table_end_word - table_start_word) >> 4;
+    let rows = table_end_word - table_start_word >> 4;

    for row in 0..rows {
        print!("0x{:04x} | ", (table_start_word + row * 0x10) / 2);
@@ -427,7 +303,7 @@ fn u16print(start_byte: u16, end_byte: u16, data: Vec<u16>) {
                }
            }
        }
-        println!();
+        print!("\n");
    }
 }

@@ -1,9 +1,10 @@
+use std::{sync::Arc, time::Duration};
+
 use ethercrab::{
    MainDevice, MainDeviceConfig, PduStorage, Timeouts,
    std::{ethercat_now, tx_rx_task},
 };
 use interfaces::Interface;
-use std::{process::Command, sync::Arc, time::Duration};

 // Constants for EtherCAT configuration
 const IFACE_DISCOVERY_MAX_SUBDEVICES: usize = 16; // Must be power of 2 > 1
@@ -11,46 +12,14 @@ const IFACE_DISCOVERY_MAX_PDU_DATA: usize = PduStorage::element_size(1100);
 const IFACE_DISCOVERY_MAX_FRAMES: usize = 16;
 const IFACE_DISCOVERY_MAX_PDI_LEN: usize = 128;

-/// Sets a network interface to unmanaged by NetworkManager.
-/// Returns true if the command succeeded.
-pub fn set_interface_managed(interface: &str, managed: bool) -> bool {
-    let managed_str = match managed {
-        true => "yes",
-        false => "no",
-    };
-    tracing::info!(
-        "set_interface_managed for {} managed was set to: {}",
-        interface,
-        managed_str
-    );
-    let status = Command::new("nmcli")
-        .args(["dev", "set", interface, "managed", managed_str])
-        .status();
-
-    matches!(status, Ok(s) if s.success())
-}
-
-/// Returns true if the given network interface is Ethernet.
-/// Prevents testing wlan,loopback and other non ethernet devices
-fn is_ethernet(interface: &str) -> std::io::Result<bool> {
-    #[cfg(target_os = "linux")]
-    {
-        let base_path = format!("/sys/class/net/{}", interface);
-        let type_path = std::path::Path::new(&base_path).join("type");
-        let iface_type = std::fs::read_to_string(&type_path)?.trim().to_string();
-        // 1 means Ethernet
-        let reports_as_ethernet = iface_type == "1";
-        // Double-check that it's not a wireless interface
-        let uevent_path = std::path::Path::new(&base_path).join("uevent");
-        let uevent = std::fs::read_to_string(&uevent_path).unwrap_or_default();
-        // If "DEVTYPE=wlan" appears, it's lying
-        let actually_wifi = uevent.contains("DEVTYPE=wlan");
-        return Ok(reports_as_ethernet && !actually_wifi);
-    }
-    #[cfg(not(target_os = "linux"))]
-    return Ok(true);
-}
-
+/// Finds an ethernet interface that is suitable for EtherCAT communication.
+///
+/// ```ignore
+/// match discover_ethercat_interface().await {
+///     Ok(interface) => println!("Found working interface: {}", interface),
+///     Err(_) => println!("No working interface found"),
+/// }
+/// ```
 pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
    tracing::info!("Discovering EtherCAT interface...");

@@ -68,17 +37,17 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
        } else {
            tracing::debug!("Suppressed panic in interface test: {}", panic_info);
        }
+        // Don't call the default hook, which would print the backtrace
    }));

    // Get eligible interfaces
    let mut interfaces = Interface::get_all()
-        .map_err(|e| anyhow::anyhow!("Failed to get network interfaces: {}", e))?
+        .or_else(|e| Err(anyhow::anyhow!("Failed to get network interfaces: {}", e)))?
        .into_iter()
        .filter(|iface| {
            iface.is_up()
                && iface.is_running()
                && !iface.is_loopback()
-                && is_ethernet(&iface.name).unwrap_or(false)
                && !iface.name.starts_with("bridge")
                && !iface.name.starts_with("utun")   // Exclude tunnel interfaces
                && !iface.name.starts_with("awdl")   // Exclude Apple Wireless Direct Link
@@ -87,39 +56,60 @@ pub async fn discover_ethercat_interface() -> Result<String, anyhow::Error> {
        })
        .collect::<Vec<_>>();

+    // Sort interfaces by name
    interfaces.sort_by(|a, b| a.name.cmp(&b.name));
-    let mut interface: Option<&str> = None;

-    for i in 0..interfaces.len() {
-        match test_interface(&interfaces[i].name) {
-            Ok(_) => {
-                // if interface found with ethercat Exit early, we expect only one interface with ethercat
-                interface = Some(&interfaces[i].name);
-                break;
-            }
-            Err(_) => (),
-        }
-    }
+    // Try all interfaces concurrently
+    let tasks = interfaces
+        .iter()
+        .map(|iface| {
+            let name = iface.name.clone();
+            std::thread::Builder::new()
+                .name(format!("ethercat-test-{}", name))
+                .spawn(move || {
+                    std::panic::catch_unwind(|| {
+                        smol::block_on(async {
+                            match test_interface(&name) {
+                                Ok(_) => {
+                                    tracing::info!("Found working EtherCAT interface: {}", name);
+                                    Some(name.clone())
+                                }
+                                Err(_) => {
+                                    tracing::debug!("Interface {} failed", name);
+                                    None
+                                }
+                            }
+                        })
+                    })
+                    .unwrap_or(None)
+                })
+                .expect("Failed to spawn thread")
+        })
+        .collect::<Vec<_>>();

-    for i in 0..interfaces.len() {
-        if interface.is_some() && interface.unwrap() == &interfaces[i].name {
-            set_interface_managed(&interfaces[i].name, false);
-        } else {
-            set_interface_managed(&interfaces[i].name, true);
-        }
-    }
+    // Wait for all tasks to complete and collect successful results
+    let successful_interfaces: Vec<String> = tasks
+        .into_iter()
+        .filter_map(|task| match task.join().expect("Should join thread") {
+            Some(name) => Some(name),
+            None => None,
+        })
+        .collect();
+
+    // Return the first successful interface (they're sorted by name)
+    let result = successful_interfaces.into_iter().next();

    // Restore the default panic hook
    std::panic::set_hook(default_hook);

-    match interface {
-        Some(interface) => return Ok(interface.to_string()),
-        None => return Err(anyhow::anyhow!("No suitable EtherCAT interface found")),
+    match result {
+        Some(name) => Ok(name),
+        None => Err(anyhow::anyhow!("No suitable EtherCAT interface found")),
    }
 }

 fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
-    tracing::info!("Testing interface: {}", interface);
+    tracing::trace!("Testing interface: {}", interface);

    let pdu_storage = Box::leak(Box::new(PduStorage::<
        IFACE_DISCOVERY_MAX_FRAMES,
@@ -157,7 +147,7 @@ fn test_interface(interface: &str) -> Result<(), anyhow::Error> {
                // Default 10000
                dc_static_sync_iterations: 10000,
                // Default None
-                retry_behaviour: ethercrab::RetryBehaviour::Count(3),
+                retry_behaviour: ethercrab::RetryBehaviour::None,
            },
        ));

@@ -1 +1,2 @@
+pub mod eeprom_identification;
 pub mod interface_discovery;
@@ -1,337 +0,0 @@
-use serde::Serialize;
-use serde::ser::{
-    SerializeMap, SerializeSeq, SerializeStruct, SerializeStructVariant, SerializeTuple,
-    SerializeTupleStruct, SerializeTupleVariant, Serializer,
-};
-use std::error::Error;
-use std::fmt::Display;
-use std::hash::{DefaultHasher, Hasher};
-
-#[derive(Debug)]
-pub struct HashSerializerError {}
-
-impl std::fmt::Display for HashSerializerError {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        f.write_str(&format!("{:?}", self))
-        // f.debug_struct("HashSerialiyerError")
-        // .finish()
-    }
-}
-
-impl Error for HashSerializerError {}
-
-impl serde::ser::Error for HashSerializerError {
-    fn custom<T>(_msg: T) -> Self
-    where
-        T: Display,
-    {
-        Self {}
-    }
-}
-
-pub struct HashSerializer<'a, H: Hasher>(&'a mut H);
-impl<H: Hasher> SerializeSeq for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_element<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeTuple for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_element<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeTupleStruct for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_field<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeTupleVariant for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_field<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeMap for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_key<T>(&mut self, key: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        key.serialize(HashSerializer(self.0))
-    }
-
-    fn serialize_value<T>(&mut self, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeStruct for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_field<T>(&mut self, key: &'static str, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        // Optional: hash the field name to avoid collisions
-        self.0.write(key.as_bytes());
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> SerializeStructVariant for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-
-    fn serialize_field<T>(&mut self, key: &'static str, value: &T) -> Result<(), Self::Error>
-    where
-        T: ?Sized + Serialize,
-    {
-        self.0.write(key.as_bytes());
-        value.serialize(HashSerializer(self.0))
-    }
-
-    fn end(self) -> Result<Self::Ok, Self::Error> {
-        Ok(())
-    }
-}
-
-impl<H: Hasher> Serializer for HashSerializer<'_, H> {
-    type Ok = ();
-    type Error = HashSerializerError;
-    type SerializeSeq = Self;
-    type SerializeTuple = Self;
-    type SerializeTupleStruct = Self;
-    type SerializeTupleVariant = Self;
-    type SerializeMap = Self;
-    type SerializeStruct = Self;
-    type SerializeStructVariant = Self;
-
-    fn serialize_bool(self, v: bool) -> Result<(), Self::Error> {
-        self.0.write_u8(v as u8);
-        Ok(())
-    }
-
-    fn serialize_i8(self, v: i8) -> Result<(), Self::Error> {
-        self.0.write_i8(v);
-        Ok(())
-    }
-
-    fn serialize_i16(self, v: i16) -> Result<(), Self::Error> {
-        self.0.write_i16(v);
-        Ok(())
-    }
-
-    fn serialize_i32(self, v: i32) -> Result<(), Self::Error> {
-        self.0.write_i32(v);
-        Ok(())
-    }
-
-    fn serialize_i64(self, v: i64) -> Result<(), Self::Error> {
-        self.0.write_i64(v);
-        Ok(())
-    }
-
-    fn serialize_u8(self, v: u8) -> Result<(), Self::Error> {
-        self.0.write_u8(v);
-        Ok(())
-    }
-
-    fn serialize_u16(self, v: u16) -> Result<(), Self::Error> {
-        self.0.write_u16(v);
-        Ok(())
-    }
-
-    fn serialize_u32(self, v: u32) -> Result<(), Self::Error> {
-        self.0.write_u32(v);
-        Ok(())
-    }
-
-    fn serialize_u64(self, v: u64) -> Result<(), Self::Error> {
-        self.0.write_u64(v);
-        Ok(())
-    }
-
-    fn serialize_f32(self, v: f32) -> Result<(), Self::Error> {
-        self.0.write_u32(v.to_bits());
-        Ok(())
-    }
-
-    fn serialize_f64(self, v: f64) -> Result<(), Self::Error> {
-        self.0.write_u64(v.to_bits());
-        Ok(())
-    }
-
-    fn serialize_char(self, v: char) -> Result<(), Self::Error> {
-        let mut buf = [0; 4];
-        self.0.write(v.encode_utf8(&mut buf).as_bytes());
-        Ok(())
-    }
-
-    fn serialize_str(self, v: &str) -> Result<(), Self::Error> {
-        self.0.write(v.as_bytes());
-        Ok(())
-    }
-
-    fn serialize_bytes(self, v: &[u8]) -> Result<(), Self::Error> {
-        self.0.write(v);
-        Ok(())
-    }
-
-    fn serialize_none(self) -> Result<(), Self::Error> {
-        self.0.write_u8(0); // type tag for None
-        Ok(())
-    }
-
-    fn serialize_some<T: ?Sized + Serialize>(self, value: &T) -> Result<(), Self::Error> {
-        self.0.write_u8(1); // type tag for Some
-        value.serialize(self)
-    }
-
-    fn serialize_unit(self) -> Result<(), Self::Error> {
-        self.0.write_u8(0);
-        Ok(())
-    }
-
-    fn serialize_unit_struct(self, _name: &'static str) -> Result<(), Self::Error> {
-        self.serialize_unit()
-    }
-
-    fn serialize_unit_variant(
-        self,
-        _name: &'static str,
-        variant_index: u32,
-        _variant: &'static str,
-    ) -> Result<(), Self::Error> {
-        self.0.write_u32(variant_index);
-        Ok(())
-    }
-
-    fn serialize_newtype_struct<T: ?Sized + Serialize>(
-        self,
-        _name: &'static str,
-        value: &T,
-    ) -> Result<(), Self::Error> {
-        value.serialize(self)
-    }
-
-    fn serialize_newtype_variant<T: ?Sized + Serialize>(
-        self,
-        _name: &'static str,
-        variant_index: u32,
-        _variant: &'static str,
-        value: &T,
-    ) -> Result<(), Self::Error> {
-        self.0.write_u32(variant_index);
-        value.serialize(self)
-    }
-
-    // For sequences, tuples, maps, structs, just return self for now
-    fn serialize_seq(self, _len: Option<usize>) -> Result<Self::SerializeSeq, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_tuple(self, _len: usize) -> Result<Self::SerializeTuple, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_tuple_struct(
-        self,
-        _name: &'static str,
-        _len: usize,
-    ) -> Result<Self::SerializeTupleStruct, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_tuple_variant(
-        self,
-        _name: &'static str,
-        variant_index: u32,
-        _variant: &'static str,
-        _len: usize,
-    ) -> Result<Self::SerializeTupleVariant, Self::Error> {
-        self.0.write_u32(variant_index);
-        Ok(self)
-    }
-    fn serialize_map(self, _len: Option<usize>) -> Result<Self::SerializeMap, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_struct(
-        self,
-        _name: &'static str,
-        _len: usize,
-    ) -> Result<Self::SerializeStruct, Self::Error> {
-        Ok(self)
-    }
-    fn serialize_struct_variant(
-        self,
-        _name: &'static str,
-        variant_index: u32,
-        _variant: &'static str,
-        _len: usize,
-    ) -> Result<Self::SerializeStructVariant, Self::Error> {
-        self.0.write_u32(variant_index);
-        Ok(self)
-    }
-}
-
-// A helper that uses Serialize to feed into a Hasher without allocating a buffer:
-pub fn hash_with_serde_model<T: Serialize>(value: T) -> u64 {
-    let mut h = DefaultHasher::new();
-    let ser = HashSerializer(&mut h);
-    value.serialize(ser).expect("serialize to hasher failed");
-    h.finish()
-}
@@ -1,108 +1,40 @@
-/// Folds bytes using XOR to produce a u128 value.
-///
-/// Takes a slice of bytes and XORs them together in chunks to produce a u128.
-/// If there are fewer than 16 bytes, the remaining bytes are padded with zeros.
-pub fn byte_folding_u128(bytes: &[u8]) -> u128 {
-    let mut result = 0u128;
-    for (i, &byte) in bytes.iter().enumerate() {
-        let shift = (i % 16) * 8;
-        result ^= (byte as u128) << shift;
-    }
-    result
+pub fn xor_u128_to_u64(value: u128) -> u64 {
+    (value as u64) ^ ((value >> 64) as u64)
 }

-/// Folds bytes using XOR to produce a u64 value.
-///
-/// Takes a slice of bytes and XORs them together in chunks to produce a u64.
-/// If there are fewer than 8 bytes, the remaining bytes are padded with zeros.
-pub fn byte_folding_u64(bytes: &[u8]) -> u64 {
-    let mut result = 0u64;
-    for (i, &byte) in bytes.iter().enumerate() {
-        let shift = (i % 8) * 8;
-        result ^= (byte as u64) << shift;
-    }
-    result
+pub fn xor_u128_to_u32(value: u128) -> u32 {
+    (value as u32) ^ ((value >> 32) as u32) ^ ((value >> 64) as u32) ^ ((value >> 96) as u32)
 }

-/// Folds bytes using XOR to produce a u32 value.
-///
-/// Takes a slice of bytes and XORs them together in chunks to produce a u32.
-/// If there are fewer than 4 bytes, the remaining bytes are padded with zeros.
-pub fn byte_folding_u32(bytes: &[u8]) -> u32 {
-    let mut result = 0u32;
-    for (i, &byte) in bytes.iter().enumerate() {
-        let shift = (i % 4) * 8;
-        result ^= (byte as u32) << shift;
-    }
-    result
+pub fn xor_u128_to_u16(value: u128) -> u16 {
+    value
+        .to_le_bytes()
+        .iter()
+        .fold(0, |buf, &byte| buf ^ byte as u16)
 }

-/// Folds bytes using XOR to produce a u16 value.
-///
-/// Takes a slice of bytes and XORs them together in chunks to produce a u16.
-/// If there are fewer than 2 bytes, the remaining bytes are padded with zeros.
-pub fn byte_folding_u16(bytes: &[u8]) -> u16 {
-    let mut result = 0u16;
-    for (i, &byte) in bytes.iter().enumerate() {
-        let shift = (i % 2) * 8;
-        result ^= (byte as u16) << shift;
-    }
-    result
+pub fn xor_u128_to_u8(value: u128) -> u8 {
+    value.to_le_bytes().iter().fold(0, |buf, &byte| buf ^ byte)
 }

-/// Folds bytes using XOR to produce a u8 value.
-///
-/// Takes a slice of bytes and XORs them all together to produce a u8.
-pub fn byte_folding_u8(bytes: &[u8]) -> u8 {
-    bytes.iter().fold(0u8, |acc, &byte| acc ^ byte)
-}
+// hash algorithm djb2
+pub fn hashing(input_to_hash: &str) -> u128 {
+    let mut hash: u128 = 5381;
+    let chars = input_to_hash.chars();

-/// Computes a djb2 hash of the input bytes.
-///
-/// The djb2 algorithm is a simple non-cryptographic hash function created by
-/// Daniel J. Bernstein. It uses the formula: `hash = hash * 33 + byte` for each byte.
-///
-/// This implementation uses the traditional 32-bit hash value and uses wrapping
-/// arithmetic to handle potential overflows gracefully.
-///
-/// # Arguments
-///
-/// * `bytes` - A slice of bytes to hash
-///
-/// # Returns
-///
-/// A 32-bit hash value as a `u32`
-///
-/// # Examples
-///
-/// ```
-/// use control_core::helpers::hashing::hash_djb2;
-///
-/// let hash = hash_djb2(b"hello world");
-/// assert_ne!(hash, 0);
-/// ```
-///
-/// # Algorithm Details
-///
-/// - Initial hash value: 5381 (djb2 magic number)
-/// - For each byte: `hash = hash * 33 + byte`
-/// - Uses wrapping arithmetic to prevent overflow panics
-pub fn hash_djb2(bytes: &[u8]) -> u32 {
-    let mut hash: u32 = 5381;
-
-    for byte in bytes {
-        hash = hash.wrapping_mul(33).wrapping_add(*byte as u32);
+    for ch in chars {
+        hash = ((hash << 5) + hash) + (ch as u128);
    }
    hash
 }
-
 #[test]
 fn test_hash() {
    let test_case = "/dev/ttyUSB1";
-    let hash_u32 = hash_djb2(test_case.as_bytes());
-    let hash_u16 = byte_folding_u16(&hash_u32.to_le_bytes());
+    let hash = hashing(test_case);
+    let hash_2bytes = xor_u128_to_u16(hash);
    tracing::info!("{}", test_case);
    assert_eq!(test_case, "/dev/ttyUSB1");
-    assert_eq!(hash_u32, 266121182);
-    assert_eq!(hash_u16, 40962);
+    assert!(hash == 8977446972540388683742);
+    assert!(hash_2bytes == 165);
+    println!("{:?}", hash);
 }
@@ -1,26 +1,4 @@
 /// Normalizes a value from a given range [min, max] to the range [0, 1].
-///
-/// This function maps a value from an arbitrary range to the standard
-/// normalized range [0, 1]. Values o/// Plot for Steepness = -1:ge are clamped
-/// to the boundaries (0.0 or 1.0).
-///
-/// # Arguments
-/// * `value` - The input value to normalize
-/// * `min` - The minimum value of the input range
-/// * `max` - The maximum value of the input range
-///
-/// # Returns
-/// * Normalized value in range [0.0, 1.0]
-///
-/// # Panics
-/// * Panics if `min >= max`
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::normalize;
-/// let normalized = normalize(5.0, 0.0, 10.0); // Returns 0.5
-/// let clamped = normalize(-2.0, 0.0, 10.0);   // Returns 0.0 (clamped)
-/// ```
 pub fn normalize<T>(value: T, min: T, max: T) -> f64
 where
    T: Into<f64>,
@@ -41,425 +19,36 @@ where
 }

 /// Scales a normalized value from the range [0, 1] to a new range [new_min, new_max].
-///
-/// This function takes a normalized value (typically from 0 to 1) and maps it
-/// to a new target range. It's the inverse operation of normalization.
-///
-/// # Arguments
-/// * `normalized_value` - Input value in range [0.0, 1.0]
-/// * `new_min` - The minimum value of the target range
-/// * `new_max` - The maximum value of the target range
-///
-/// # Returns
-/// * Scaled value in the range [new_min, new_max]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::scale;
-/// let scaled = scale(0.5, 0.0, 100.0); // Returns 50.0
-/// let negative_range = scale(0.25, -10.0, 10.0); // Returns -5.0
-/// ```
 pub fn scale<T>(normalized_value: f64, new_min: T, new_max: T) -> T
 where
    T: Into<f64> + From<f64>,
 {
-    let normalized_value: f64 = normalized_value;
+    let normalized_value: f64 = normalized_value.into();
    let new_min: f64 = new_min.into();
    let new_max: f64 = new_max.into();

-    let result = normalized_value.mul_add(new_max - new_min, new_min);
+    let result = normalized_value * (new_max - new_min) + new_min;
    T::from(result)
 }

-/// Performs hinge interpolation creating a piecewise linear function.
-///
-/// This function creates a piecewise linear curve that:
-/// - For values < x: linearly interpolates from (0, 0) to (x, y)
-/// - For values > x: linearly interpolates from (x, y) to (1, 1)
-/// - For value == x: returns y
-///
-/// The function assumes the input value is normalized to the range [0, 1],
-/// and creates a "hinge" or "elbow" shape at the point (x, y).
-///
-/// # Arguments
-/// * `value` - The input value (typically in range [0, 1])
-/// * `x` - The x-coordinate of the hinge point (typically in range [0, 1])
-/// * `y` - The y-coordinate of the hinge point (typically in range [0, 1])
-///
-/// # Returns
-/// * Interpolated value based on the hinge function
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::interpolate_hinge;
-/// // Create a hinge at (0.3, 0.7)
-/// let result1 = interpolate_hinge(0.15, 0.3, 0.7); // Returns 0.35 (halfway to hinge)
-/// let result2 = interpolate_hinge(0.3, 0.3, 0.7);  // Returns 0.7 (at hinge)
-/// let result3 = interpolate_hinge(0.65, 0.3, 0.7); // Returns 0.85 (halfway from hinge to 1)
-/// ```
-/// ```ignore
-/// Hinge at (0.8, 0.2)
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠇⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢸⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠇⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢸⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⣀⠤⠤⠒⠒⠊⠁⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⣀⣀⡠⠤⠒⠒⠉⠉⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⣀⣀⠤⠤⠔⠒⠉⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠉⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-pub fn interpolate_hinge<T>(value: T, x: T, y: T) -> f64
-where
-    T: Into<f64>,
-{
-    let value_f64: f64 = value.into();
-    let x_f64: f64 = x.into();
-    let y_f64: f64 = y.into();
-
-    // If we are under X we scale linearly from 0 to y
-    // If we are over X we scale linearly from y to 1
-    if value_f64 < x_f64 {
-        normalize(value_f64, 0.0, x_f64) * y_f64
-    } else if value_f64 > x_f64 {
-        normalize(value_f64, x_f64, 1.0).mul_add(1.0 - y_f64, y_f64)
-    } else {
-        y_f64
-    }
-}
-
-/// Transforms a normalized value from the range [0, 1] to a [0, 1] range using a normalized exponential function.
-///
-/// This function creates smooth curves that are either convex (fast start, slow end)
-/// or concave (slow start, fast end) depending on the steepness parameter sign.
-/// The curve always passes through (0,0) and (1,1).
-///
-/// # Arguments
-/// * `normalized_value` - Input value in range [0.0, 1.0]
-/// * `steepness` - Controls the curve shape:
-///   - `steepness = 0.0`: Linear interpolation (y = x)
-///   - `steepness > 0.0`: Convex curve (slow start → fast end)
-///   - `steepness < 0.0`: Concave curve (fast start → slow end)
-///   - Typical range: -5.0 to 5.0 for most applications
-///
-/// # Returns
-/// * Transformed value in range [0.0, 1.0]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::interpolate_exponential;
-/// let convex = interpolate_exponential(0.5, 2.0);   // Slow start, fast end
-/// let concave = interpolate_exponential(0.5, -2.0); // Fast start, slow end
-/// let linear = interpolate_exponential(0.5, 0.0);   // Linear (returns 0.5)
-/// ```
-///
-/// # Plots
-/// Steepness = -3
-/// Steepness = -3
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⡠⠤⠔⠒⠒⠉⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠤⠔⠊⠉⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⡰⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⡜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⢰⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⢀⠇⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⢤⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡎⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ -0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = -1
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠒⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠁⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠒⠁⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⢀⠜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⢀⠎⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⢀⠜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡲⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ -0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 0
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⢂⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 1
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠃⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠊⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⢀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⢂⣀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 3
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡎⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠇⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠁⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⣀⠤⠔⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⣀⣀⠤⠤⠒⠒⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠉⠉⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-pub fn interpolate_exponential(normalized_value: f64, steepness: f64) -> f64 {
-    if steepness.abs() < 1e-10 {
+/// Transforma normalized value from the range [0, 1] to a [0, 1] range using an normalized exponential function.
+pub fn interpolate_exponential(normalized_value: f64, a: f64) -> f64 {
+    if a.abs() < 1e-10 {
        // When a is very close to zero, the function becomes linear
        return normalized_value;
    }
-    let numerator = steepness.exp().powf(normalized_value) - 1.0;
-    let denominator = steepness.exp_m1();
+    let numerator = a.exp().powf(normalized_value) - 1.0;
+    let denominator = a.exp() - 1.0;

    clip(numerator / denominator)
 }

-/// A piecewise exponential interpolation function that creates smooth S-curves
-/// through the points (0,0), (0.5,0.5), and (1,1).
-///
-/// The function combines two normalized exponential segments:
-/// - First half (0 to 0.5): inverted exponential (concave, fast start → slow end)
-/// - Second half (0.5 to 1): standard exponential (convex, slow start → fast end)
-///
-/// This creates an S-like curve that's concave then convex, similar to
-/// a smoothed step function or sigmoid-like transition.
-///
-/// # Arguments
-/// * `x` - Input value, should be in range [0.0, 1.0]
-/// * `steepness` - Controls how steep the S-curve is
-///   - `steepness = 0.0`: Linear interpolation (y = x)
-///   - `steepness > 0.0`: More pronounced S-curve
-///   - Higher values create sharper transitions at the boundaries
-///   - Typical range: 0.5 to 5.0 for most applications
-///
-/// # Returns
-/// * Interpolated y value in range [0.0, 1.0]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::interpolate_inflected_exponential;
-/// let y = interpolate_inflected_exponential(0.25, 2.0); // Gentle S-curve
-/// let y = interpolate_inflected_exponential(0.75, 5.0); // Sharp S-curve
-/// ```
-///
-/// # Plots
-/// Steepness = 0.5
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠉⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠜⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠜⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠒⠁⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⡔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⢀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⢀⠤⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡢⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 1
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢠⠒⠁⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠃⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠁⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⡠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⡰⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⡰⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⡜⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡲⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 2
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡠⠃⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡸⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡰⠉⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠊⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⡠⠤⠒⠊⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⢀⠤⠔⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⣀⠔⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⡠⠊⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⢠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⡠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡞⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-///
-/// Steepness = 5
-/// ```ignore
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢰⠁ 1.0
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠇⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⠎⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡜⠀⠀⠀⠀
-/// ⡁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⠔⠉⠀⠀⠀⠀⠀
-/// ⠄⠀⠀⠀⠀⠀⠀⠀⠀⣀⣀⡠⠤⠤⠤⠤⠤⠤⠤⠒⠒⠊⠉⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⠀⠀⠀⠀⢀⠔⠒⠉⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡁⠀⠀⢠⠒⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠄⠀⢠⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠂⢀⠇⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⣁⠎⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⢼⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⡇⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
-/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁ 0.0
-/// 0.0                        1.0
-/// ```
-pub fn interpolate_inflected_exponential(x: f64, steepness: f64) -> f64 {
-    debug_assert!((0.0..=1.0).contains(&x), "x must be in range [0.0, 1.0]");
-    debug_assert!(steepness >= 0.0, "steepness must be non-negative");
-
-    if steepness == 0.0 {
-        // Linear case
-        return x;
-    }
-
-    if x <= 0.5 {
-        // First segment: inverted exponential (concave)
-        // Maps [0, 0.5] → [0, 0.5] with concave shape
-        let x_norm = 2.0 * x; // Scale to [0, 1]
-
-        // Use inverted exponential interpolation
-        let result = 1.0 - interpolate_exponential(1.0 - x_norm, steepness);
-        0.5 * result
-    } else {
-        // Second segment: standard exponential (convex)
-        // Maps [0.5, 1] → [0.5, 1] with convex shape
-        let x_norm = 2.0 * (x - 0.5); // Scale to [0, 1]
-
-        // Use standard exponential interpolation
-        let result = interpolate_exponential(x_norm, steepness);
-        0.5f64.mul_add(result, 0.5)
-    }
-}
-
 /// Inverts a value from the range [0, 1] to [1, 0].
-///
-/// This function flips a normalized value, where 0 becomes 1 and 1 becomes 0.
-/// Values outside [0, 1] are first clamped to this range before inversion.
-///
-/// # Arguments
-/// * `value` - Input value (will be clamped to [0.0, 1.0])
-///
-/// # Returns
-/// * Inverted value in range [0.0, 1.0]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::invert;
-/// let inverted = invert(0.3); // Returns 0.7
-/// let boundary = invert(0.0); // Returns 1.0
-/// let clamped = invert(1.5);  // Returns 0.0 (input clamped to 1.0 first)
-/// ```
 pub fn invert(value: f64) -> f64 {
    let value = clip(value);
    1.0 - value
 }

-/// Clips a value to the range [0, 1].
-///
-/// This function ensures that any input value is constrained to the
-/// normalized range [0, 1] by clamping values below 0 to 0 and
-/// values above 1 to 1.
-///
-/// # Arguments
-/// * `value` - Input value to clip
-///
-/// # Returns
-/// * Clipped value in range [0.0, 1.0]
-///
-/// # Example
-/// ```rust
-/// use control_core::helpers::interpolation::clip;
-/// let normal = clip(0.5);  // Returns 0.5
-/// let low = clip(-0.3);    // Returns 0.0
-/// let high = clip(1.7);    // Returns 1.0
-/// ```
 pub fn clip(value: f64) -> f64 {
    if value < 0.0 {
        return 0.0;
@@ -589,289 +178,6 @@ mod tests {
        assert_relative_eq!(clip(1.5), 1.0, epsilon = EPSILON);
    }

-    #[test]
-    fn test_interpolate_inflected_exponential() {
-        // Test boundary points (0,0), (0.5,0.5), and (1,1) for various steepness values
-        for steepness in [0.0, 0.5, 1.0, 2.0, 5.0].iter() {
-            assert_relative_eq!(
-                interpolate_inflected_exponential(0.0, *steepness),
-                0.0,
-                epsilon = EPSILON
-            );
-            assert_relative_eq!(
-                interpolate_inflected_exponential(0.5, *steepness),
-                0.5,
-                epsilon = EPSILON
-            );
-            assert_relative_eq!(
-                interpolate_inflected_exponential(1.0, *steepness),
-                1.0,
-                epsilon = EPSILON
-            );
-        }
-
-        // Test linear case (steepness = 0)
-        for x in [0.0, 0.25, 0.5, 0.75, 1.0].iter() {
-            assert_relative_eq!(
-                interpolate_inflected_exponential(*x, 0.0),
-                *x,
-                epsilon = EPSILON
-            );
-        }
-
-        // Test monotonicity - function should be strictly increasing
-        for steepness in [0.5, 1.0, 2.0, 5.0].iter() {
-            let mut prev = interpolate_inflected_exponential(0.0, *steepness);
-            for i in 1..=20 {
-                let x = i as f64 / 20.0;
-                let current = interpolate_inflected_exponential(x, *steepness);
-                assert!(
-                    current >= prev,
-                    "Failed monotonicity test at x={}, steepness={}, prev={}, current={}",
-                    x,
-                    steepness,
-                    prev,
-                    current
-                );
-                prev = current;
-            }
-        }
-
-        // Test S-curve property: first half should be concave, second half convex
-        let steepness = 2.0;
-
-        // First half: check concave property (derivative decreasing)
-        let x1 = 0.1;
-        let x2 = 0.2;
-        let x3 = 0.3;
-        let y1 = interpolate_inflected_exponential(x1, steepness);
-        let y2 = interpolate_inflected_exponential(x2, steepness);
-        let y3 = interpolate_inflected_exponential(x3, steepness);
-
-        let slope1 = (y2 - y1) / (x2 - x1);
-        let slope2 = (y3 - y2) / (x3 - x2);
-        assert!(
-            slope1 > slope2,
-            "First half should be concave (decreasing slope)"
-        );
-
-        // Second half: check convex property (derivative increasing)
-        let x1 = 0.7;
-        let x2 = 0.8;
-        let x3 = 0.9;
-        let y1 = interpolate_inflected_exponential(x1, steepness);
-        let y2 = interpolate_inflected_exponential(x2, steepness);
-        let y3 = interpolate_inflected_exponential(x3, steepness);
-
-        let slope1 = (y2 - y1) / (x2 - x1);
-        let slope2 = (y3 - y2) / (x3 - x2);
-        assert!(
-            slope1 < slope2,
-            "Second half should be convex (increasing slope)"
-        );
-
-        // Test that output is always in [0, 1] range
-        for steepness in [0.0, 1.0, 5.0, 10.0].iter() {
-            for i in 0..=100 {
-                let x = i as f64 / 100.0;
-                let y = interpolate_inflected_exponential(x, *steepness);
-                assert!(
-                    y >= 0.0 && y <= 1.0,
-                    "Output {} out of range [0,1] for x={}, steepness={}",
-                    y,
-                    x,
-                    steepness
-                );
-            }
-        }
-    }
-
-    #[test]
-    fn test_interpolate_hinge() {
-        // Test basic functionality with hinge at (0.3, 0.7)
-        let x_hinge = 0.3;
-        let y_hinge = 0.7;
-
-        // Test exact hinge point
-        assert_relative_eq!(
-            interpolate_hinge(x_hinge, x_hinge, y_hinge),
-            y_hinge,
-            epsilon = EPSILON
-        );
-
-        // Test left segment (value < x): should interpolate from (0,0) to (x,y)
-        assert_relative_eq!(
-            interpolate_hinge(0.0, x_hinge, y_hinge),
-            0.0,
-            epsilon = EPSILON
-        );
-        assert_relative_eq!(
-            interpolate_hinge(0.15, x_hinge, y_hinge),
-            0.35, // 0.15/0.3 * 0.7 = 0.5 * 0.7 = 0.35
-            epsilon = EPSILON
-        );
-
-        // Test right segment (value > x): should interpolate from (x,y) to (1,1)
-        assert_relative_eq!(
-            interpolate_hinge(1.0, x_hinge, y_hinge),
-            1.0,
-            epsilon = EPSILON
-        );
-        assert_relative_eq!(
-            interpolate_hinge(0.65, x_hinge, y_hinge),
-            0.85, // y + ((0.65-0.3)/(1.0-0.3)) * (1.0-0.7) = 0.7 + 0.5 * 0.3 = 0.85
-            epsilon = EPSILON
-        );
-
-        // Test with different hinge points
-        // Hinge at (0.5, 0.5) - should be linear
-        assert_relative_eq!(interpolate_hinge(0.25, 0.5, 0.5), 0.25, epsilon = EPSILON);
-        assert_relative_eq!(interpolate_hinge(0.75, 0.5, 0.5), 0.75, epsilon = EPSILON);
-
-        // Hinge at (0.2, 0.9) - steep left, shallow right
-        assert_relative_eq!(
-            interpolate_hinge(0.1, 0.2, 0.9),
-            0.45, // 0.1/0.2 * 0.9 = 0.5 * 0.9 = 0.45
-            epsilon = EPSILON
-        );
-        assert_relative_eq!(
-            interpolate_hinge(0.6, 0.2, 0.9),
-            0.95, // 0.9 + ((0.6-0.2)/(1.0-0.2)) * (1.0-0.9) = 0.9 + 0.5 * 0.1 = 0.95
-            epsilon = EPSILON
-        );
-
-        // Test edge cases
-        // Hinge at (0, 0)
-        assert_relative_eq!(interpolate_hinge(0.0, 0.0, 0.0), 0.0, epsilon = EPSILON);
-        assert_relative_eq!(
-            interpolate_hinge(0.5, 0.0, 0.0),
-            0.5, // Should interpolate from (0,0) to (1,1)
-            epsilon = EPSILON
-        );
-
-        // Hinge at (1, 1)
-        assert_relative_eq!(
-            interpolate_hinge(0.5, 1.0, 1.0),
-            0.5, // Should interpolate from (0,0) to (1,1)
-            epsilon = EPSILON
-        );
-        assert_relative_eq!(interpolate_hinge(1.0, 1.0, 1.0), 1.0, epsilon = EPSILON);
-
-        // Test with different numeric types
-        assert_relative_eq!(
-            interpolate_hinge(0.5f32, 0.3f32, 0.7f32),
-            0.7857142857142857, // 0.7 + ((0.5-0.3)/(1.0-0.3)) * (1.0-0.7) = 0.7 + (2/7) * 0.3
-            epsilon = 1e-7      // Relaxed epsilon for f32 precision
-        );
-        assert_relative_eq!(
-            interpolate_hinge(1u8, 0u8, 1u8), // 1.0, 0.0, 1.0 - should return 1.0
-            1.0,
-            epsilon = EPSILON
-        );
-
-        // Test monotonicity - function should be non-decreasing
-        let test_x = 0.4;
-        let test_y = 0.6;
-        let mut prev = interpolate_hinge(0.0, test_x, test_y);
-
-        for i in 1..=20 {
-            let value = i as f64 / 20.0;
-            let current = interpolate_hinge(value, test_x, test_y);
-            assert!(
-                current >= prev,
-                "Failed monotonicity test at value={}, x={}, y={}, prev={}, current={}",
-                value,
-                test_x,
-                test_y,
-                prev,
-                current
-            );
-            prev = current;
-        }
-    }
-
-    #[test]
-    fn test_interpolate_exponential_graph() {
-        use textplots::{Chart, Plot, Shape};
-
-        println!("\n=== Exponential Interpolation Examples ===");
-
-        // Test different steepness values (both positive and negative)
-        let steepness_values = [-3.0, -1.0, 0.0, 1.0, 3.0];
-
-        for steepness in steepness_values.iter() {
-            println!("\nSteepness = {}", steepness);
-
-            // Generate data points
-            let points: Vec<(f32, f32)> = (0..=50)
-                .map(|i| {
-                    let x = i as f64 / 50.0;
-                    let y = interpolate_exponential(x, *steepness);
-                    (x as f32, y as f32)
-                })
-                .collect();
-
-            // Create and display chart
-            Chart::new(60, 60, 0.0, 1.0)
-                .lineplot(&Shape::Lines(&points))
-                .display();
-        }
-    }
-
-    #[test]
-    fn test_interpolate_hinge_graph() {
-        use textplots::{Chart, Plot, Shape};
-
-        println!("\n=== hinge Interpolation Examples ===");
-
-        // Test different hinge points
-        let hinges = [(0.3, 0.7), (0.5, 0.5), (0.2, 0.9), (0.8, 0.2)];
-
-        for &(x_hinge, y_hinge) in hinges.iter() {
-            println!("\nHinge at ({}, {})", x_hinge, y_hinge);
-
-            // Generate data points
-            let points: Vec<(f32, f32)> = (0..=50)
-                .map(|i| {
-                    let x = i as f64 / 50.0;
-                    let y = interpolate_hinge(x, x_hinge, y_hinge);
-                    (x as f32, y as f32)
-                })
-                .collect();
-
-            // Create and display chart
-            Chart::new(60, 60, 0.0, 1.0)
-                .lineplot(&Shape::Lines(&points))
-                .display();
-        }
-    }
-
-    #[test]
-    fn test_interpolate_inflected_exponential_graph() {
-        use textplots::{Chart, Plot, Shape};
-
-        // Test different steepness values
-        let steepness_values = [0.5, 1.0, 2.0, 5.0];
-
-        for steepness in steepness_values.iter() {
-            println!("\nSteepness = {}", steepness);
-
-            // Generate data points
-            let points: Vec<(f32, f32)> = (0..=50)
-                .map(|i| {
-                    let x = i as f64 / 50.0;
-                    let y = interpolate_inflected_exponential(x, *steepness);
-                    (x as f32, y as f32)
-                })
-                .collect();
-
-            // Create and display chart
-            Chart::new(60, 60, 0.0, 1.0)
-                .lineplot(&Shape::Lines(&points))
-                .display();
-        }
-    }
-
    #[test]
    #[should_panic]
    fn test_normalize_invalid_range() {
@@ -0,0 +1,189 @@
+use smol::Timer;
+use std::time::{Duration, Instant};
+use tracing::instrument;
+
+pub struct LoopThrottle {
+    target_cycle_time: Duration,
+    update_interval_cycles: usize,
+    window_start: Instant,
+    total_cycles: usize,
+    delay: Duration,
+    last_avg_cycle_time: Duration,
+    on_update: Option<Box<dyn Fn(LoopThrottleUpdate)>>,
+}
+
+pub struct LoopThrottleUpdate {
+    pub delay: Duration,
+    pub avg_cycle_time: Duration,
+    pub error: i128, // Error in nanoseconds
+}
+impl LoopThrottle {
+    pub fn new(
+        target_cycle_time: Duration,
+        update_interval_cycles: usize,
+        on_update: Option<Box<dyn Fn(LoopThrottleUpdate)>>,
+    ) -> Self {
+        Self {
+            target_cycle_time,
+            update_interval_cycles,
+            window_start: Instant::now(),
+            total_cycles: 0,
+            delay: target_cycle_time,
+            last_avg_cycle_time: target_cycle_time,
+            on_update,
+        }
+    }
+    #[instrument(skip_all)]
+    pub async fn sleep(&mut self) {
+        self.total_cycles += 1;
+
+        // Check if it's time to update (every N cycles)
+        if self.total_cycles % self.update_interval_cycles == 0 {
+            let actual_total_time = self.window_start.elapsed();
+
+            // Use integer arithmetic where possible
+            let avg_actual_cycle_time_nanos =
+                actual_total_time.as_nanos() / self.update_interval_cycles as u128;
+            let target_cycle_time_nanos = self.target_cycle_time.as_nanos();
+
+            // Calculate error in nanoseconds (signed)
+            let error_nanos = target_cycle_time_nanos as i128 - avg_actual_cycle_time_nanos as i128;
+
+            // Update current delay, allowing zero or negative values to become zero
+            let new_delay_nanos = (self.delay.as_nanos() as i128 + error_nanos).max(0) as u64;
+
+            self.delay = Duration::from_nanos(new_delay_nanos);
+            self.last_avg_cycle_time = Duration::from_nanos(avg_actual_cycle_time_nanos as u64);
+
+            // Reset for next measurement window
+            self.window_start = Instant::now();
+            self.total_cycles = 0; // Reset to prevent overflow
+
+            // if we have an update callback, call it
+            if let Some(on_update) = &self.on_update {
+                on_update(LoopThrottleUpdate {
+                    delay: self.delay,
+                    avg_cycle_time: self.last_avg_cycle_time,
+                    error: error_nanos,
+                });
+            }
+        }
+
+        Timer::after(self.delay).await;
+    }
+
+    pub fn get_cycle_time(&self) -> Duration {
+        self.last_avg_cycle_time
+    }
+
+    pub fn get_delay(&self) -> Duration {
+        self.delay
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use smol::block_on;
+
+    #[test]
+    fn test_adaptive_throttle_timing() {
+        block_on(async {
+            let update_interval_cycles = 100;
+            let target_cycle_time = Duration::from_micros(5);
+            let mut throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
+
+            let test_start = Instant::now();
+            let mut cycle_times = Vec::new();
+
+            // Run for several cycles to trigger multiple updates
+            for _ in 0..10000 {
+                let cycle_start = Instant::now();
+
+                // Simulate some work
+                Timer::after(Duration::from_micros(5)).await;
+
+                throttle.sleep().await;
+
+                let cycle_time = cycle_start.elapsed();
+                cycle_times.push(cycle_time);
+            }
+
+            let total_test_time = test_start.elapsed();
+            let avg_cycle_time = cycle_times.iter().sum::<Duration>() / cycle_times.len() as u32;
+
+            println!("Test completed in: {:?}", total_test_time);
+            println!("Average cycle time: {:?}", avg_cycle_time);
+            println!("Target cycle time: {:?}", target_cycle_time);
+            println!("Last measured avg: {:?}", throttle.get_cycle_time());
+
+            // Assert that we're reasonably close to target timing
+            let tolerance = Duration::from_millis(10);
+            assert!(
+                avg_cycle_time >= target_cycle_time.saturating_sub(tolerance)
+                    && avg_cycle_time <= target_cycle_time + tolerance,
+                "Average cycle time {:?} not within tolerance of target {:?}",
+                avg_cycle_time,
+                target_cycle_time
+            );
+        });
+    }
+
+    #[test]
+    fn test_throttle_adaptation() {
+        block_on(async {
+            let target_cycle_time = Duration::from_millis(100);
+            let update_interval_cycles = 3;
+            let mut throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
+
+            let initial_delay = throttle.get_delay();
+
+            // Run enough cycles to trigger multiple updates
+            for _ in 0..12 {
+                // Add variable work to test adaptation
+                Timer::after(Duration::from_millis(10)).await;
+                throttle.sleep().await;
+            }
+
+            println!("Initial delay: {:?}", initial_delay);
+            println!("Final delay: {:?}", throttle.get_delay());
+            println!("Last avg cycle time: {:?}", throttle.get_cycle_time());
+
+            assert!(throttle.get_cycle_time() > Duration::ZERO);
+        });
+    }
+
+    #[test]
+    fn test_throttle_initialization() {
+        let update_interval_cycles = 10;
+        let target_cycle_time = Duration::from_millis(75);
+        let throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
+
+        assert_eq!(throttle.get_delay(), target_cycle_time);
+        assert_eq!(throttle.get_cycle_time(), target_cycle_time);
+        assert_eq!(throttle.total_cycles, 0);
+    }
+
+    #[test]
+    fn test_overflow_protection() {
+        block_on(async {
+            let target_cycle_time = Duration::from_micros(1);
+            let update_interval_cycles = 5;
+            let mut throttle = LoopThrottle::new(target_cycle_time, update_interval_cycles, None);
+
+            // Run many cycles to ensure total_cycles resets properly
+            for i in 0..50 {
+                throttle.sleep().await;
+
+                // Verify that total_cycles never exceeds update_interval_cycles
+                assert!(
+                    throttle.total_cycles <= update_interval_cycles,
+                    "Cycle {}: total_cycles ({}) exceeded update_interval_cycles ({})",
+                    i,
+                    throttle.total_cycles,
+                    update_interval_cycles
+                );
+            }
+        });
+    }
+}
@@ -1,6 +1,6 @@
 pub mod compare_lists;
-pub mod hasher_serializer;
 pub mod hashing;
 pub mod interpolation;
+pub mod loop_trottle;
 pub mod moving_time_window;
 pub mod retry;
@@ -11,40 +11,56 @@ pub trait DivideByCount {

 impl DivideByCount for f64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as f64)
    }
 }

 impl DivideByCount for f32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as f32)
    }
 }

 impl DivideByCount for i32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as i32)
    }
 }

 impl DivideByCount for i64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as i64)
    }
 }

 impl DivideByCount for u32 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as u32)
    }
 }

 impl DivideByCount for u64 {
    fn divide_by_count(self, count: usize) -> Self {
-        self / (count as Self)
+        self / (count as u64)
    }
 }

+/// A generic moving time window that works with numeric types.
+///
+/// # Examples
+///
+/// ```rust
+/// use std::time::{Duration, Instant};
+/// use control_core::helpers::moving_time_window::MovingTimeWindow;
+///
+/// let mut window = MovingTimeWindow::new(Duration::from_secs(10), 100);
+/// window.update(1.5, Instant::now());
+/// window.update(2.5, Instant::now());
+/// 
+/// let average = window.average();
+/// println!("Average: {}", average);
+/// ```
+
 // Type aliases for common use cases
 pub type F64Window = MovingTimeWindow<f64>;
 pub type F32Window = MovingTimeWindow<f32>;
@@ -178,14 +194,15 @@ where
            .samples
            .iter()
            .map(|(v, _)| *v)
-            .fold(None, |acc, val| {
-                acc.map_or(Some(val), |current_max| {
+            .fold(None, |acc, val| match acc {
+                None => Some(val),
+                Some(current_max) => {
                    if val > current_max {
                        Some(val)
                    } else {
                        Some(current_max)
                    }
-                })
+                }
            })
            .unwrap_or_default();

@@ -212,14 +229,15 @@ where
            .samples
            .iter()
            .map(|(v, _)| *v)
-            .fold(None, |acc, val| {
-                acc.map_or(Some(val), |current_min| {
+            .fold(None, |acc, val| match acc {
+                None => Some(val),
+                Some(current_min) => {
                    if val < current_min {
                        Some(val)
                    } else {
                        Some(current_min)
                    }
-                })
+                }
            })
            .unwrap_or_default();

@@ -1,113 +0,0 @@
-#[cfg(target_os = "linux")]
-use libc;
-use std::ffi::CString;
-use std::io;
-use std::str;
-
-#[cfg(target_os = "linux")]
-fn read_proc_interrupts() -> Result<String, io::Error> {
-    let path = CString::new("/proc/interrupts").unwrap();
-    // O_RDONLY
-    let fd = unsafe { libc::open(path.as_ptr(), libc::O_RDONLY) };
-    if fd < 0 {
-        return Err(io::Error::from_raw_os_error(-fd));
-    }
-
-    let mut buf: Vec<u8> = Vec::new();
-    let mut chunk = [0u8; 8192];
-
-    loop {
-        let n = unsafe { libc::read(fd, chunk.as_mut_ptr() as *mut _, chunk.len()) };
-        if n < 0 {
-            let e = io::Error::from_raw_os_error(-n as i32);
-            unsafe { libc::close(fd) };
-            return Err(e);
-        } else if n == 0 {
-            break;
-        } else {
-            buf.extend_from_slice(&chunk[..n as usize]);
-        }
-    }
-    unsafe { libc::close(fd) };
-    Ok(String::from_utf8_lossy(&buf).into_owned())
-}
-
-#[cfg(target_os = "linux")]
-fn get_interface_irq(proc_content: &str, interface_name: &str) -> Option<u32> {
-    for line in proc_content.lines() {
-        if line.contains(interface_name) {
-            if let Some(colon_pos) = line.find(':') {
-                let head = &line[..colon_pos].trim();
-                // try parse head as integer IRQ number
-                if let Ok(irq) = head.parse::<u32>() {
-                    return Some(irq);
-                }
-            }
-        }
-    }
-    None
-}
-
-/// Since kernel 3.0 it’s possible to use the /proc/irq/<IRQ-NUMBER>/smp_affinity_list
-/// With comma seperated values
-/// This function takes the irq identifier and writes the cpu string
-/// into /proc/irq/irq_number/smp_affinity_list
-#[cfg(target_os = "linux")]
-fn set_irq_affinity_raw(irq: u32, cpu: &str) -> Result<(), io::Error> {
-    let path: String = format!("/proc/irq/{}/smp_affinity_list", irq);
-    let cpath = CString::new(path.clone()).unwrap();
-    // We want to completely overwrite the smp affinities, so that we guarentee execution on the specified cores
-    let file_descriptor = unsafe { libc::open(cpath.as_ptr(), libc::O_WRONLY) };
-
-    if file_descriptor < 0 {
-        tracing::info!("Permission denied to write: {}", path);
-        return Err(io::Error::new(
-            io::ErrorKind::PermissionDenied,
-            format!("failed to open {}: errno {}", path, -file_descriptor),
-        ));
-    }
-    // convert to "raw bytes"
-    // cpu needs to be a string because we need the raw ascii code 48 = '0' and so on as bytes
-    let bytes = cpu.as_bytes();
-    let mut bytes_written_total = 0usize;
-
-    while bytes_written_total < bytes.len() {
-        let to_write = &bytes[bytes_written_total..];
-        let bytes_written = unsafe {
-            libc::write(
-                file_descriptor,
-                to_write.as_ptr() as *const _,
-                to_write.len(),
-            )
-        };
-        if bytes_written < 0 {
-            let e = io::Error::from_raw_os_error(-bytes_written as i32);
-            unsafe { libc::close(file_descriptor) };
-            return Err(e);
-        }
-        bytes_written_total += bytes_written as usize;
-    }
-    unsafe { libc::close(file_descriptor) };
-    Ok(())
-}
-
-/// This is used to make sure that a given irq handler runs on the expected cpu
-/// On Realtime systems this is the make or break fix for certain usecases like ethercrab
-/// On our machines the 99.99th percentile of cycle times was very bad ~5-11 ms while ethercat is supposed to be in the microseconds
-/// After pinning the ethernet irq to the core that the ethercat code ran on 99.99th percentile went down to ~200us (microseconds)
-/// Example input: irq_name: "eno1" , cpu: 2
-/// Remember that cpu cores are counted from 0
-#[cfg(target_os = "linux")]
-pub fn set_irq_affinity(irq_name: &str, cpu: u32) -> Result<(), anyhow::Error> {
-    let proc_contents = read_proc_interrupts()?;
-    let irq = get_interface_irq(&proc_contents, irq_name);
-    if irq.is_none() {
-        return Err(anyhow::anyhow!("Couldnt find irq number!"));
-    }
-    let res = set_irq_affinity_raw(irq.unwrap(), &cpu.to_string());
-    if res.is_err() {
-        return Err(anyhow::anyhow!("Couldnt write affinity list!"));
-    } else {
-        return Ok(());
-    }
-}
@@ -1,14 +1,14 @@
+pub mod actors;
 pub mod controllers;
 pub mod converters;
-pub mod downcast;
 pub mod ethercat;
 pub mod helpers;
-pub mod irq_handling;
+pub mod machines;
 pub mod modbus;
-pub mod realtime;
+pub mod rest;
 pub mod serial;
 pub mod socketio;
-pub mod transmission;
+pub mod uom_extensions;

-#[cfg(feature = "video-streaming")]
-pub mod video_streaming;
+#[macro_use]
+extern crate uom;
@@ -0,0 +1,8 @@
+use serde_json::Value;
+
+use crate::socketio::namespace::Namespace;
+
+pub trait MachineApi {
+    fn api_mutate(&mut self, value: Value) -> Result<(), anyhow::Error>;
+    fn api_event_namespace(&mut self) -> &mut Namespace;
+}
@@ -0,0 +1,113 @@
+use std::fmt::Display;
+
+use serde::Deserialize;
+use serde::Serialize;
+
+/// Identifies a spacifi machine
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
+pub struct MachineIdentificationUnique {
+    pub machine_identification: MachineIdentification,
+    pub serial: u16,
+}
+
+impl MachineIdentificationUnique {
+    /// Check if values are non-zero
+    pub fn is_valid(&self) -> bool {
+        self.machine_identification.is_valid() && self.serial != 0
+    }
+}
+
+impl Display for MachineIdentificationUnique {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(
+            f,
+            "{}/{}/{}",
+            self.machine_identification.vendor, self.machine_identification.machine, self.serial
+        )
+    }
+}
+
+/// Identifies a machine
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Eq, Hash)]
+pub struct MachineIdentification {
+    pub vendor: u16,
+    pub machine: u16,
+}
+
+impl MachineIdentification {
+    /// Check if values are non-zero
+    pub fn is_valid(&self) -> bool {
+        self.vendor != 0 && self.machine != 0
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceMachineIdentification {
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub role: u16,
+}
+
+impl DeviceMachineIdentification {
+    /// Check if values are non-zero
+    pub fn is_valid(&self) -> bool {
+        self.machine_identification_unique.is_valid()
+            && self
+                .machine_identification_unique
+                .machine_identification
+                .machine
+                != 0
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceIdentification {
+    pub device_machine_identification: Option<DeviceMachineIdentification>,
+    pub device_hardware_identification: DeviceHardwareIdentification,
+}
+
+impl From<DeviceIdentificationIdentified> for DeviceIdentification {
+    fn from(value: DeviceIdentificationIdentified) -> Self {
+        DeviceIdentification {
+            device_machine_identification: Some(value.device_machine_identification),
+            device_hardware_identification: value.device_hardware_identification,
+        }
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceIdentificationIdentified {
+    pub device_machine_identification: DeviceMachineIdentification,
+    pub device_hardware_identification: DeviceHardwareIdentification,
+}
+
+impl TryFrom<DeviceIdentification> for DeviceIdentificationIdentified {
+    type Error = anyhow::Error;
+
+    fn try_from(value: DeviceIdentification) -> Result<Self, Self::Error> {
+        let device_machine_identification =
+            value.device_machine_identification.ok_or(anyhow::anyhow!(
+                "[{}::DeviceIdentificationIdentified::try_from] No device machine identification",
+                module_path!()
+            ))?;
+
+        Ok(DeviceIdentificationIdentified {
+            device_machine_identification,
+            device_hardware_identification: value.device_hardware_identification,
+        })
+    }
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub enum DeviceHardwareIdentification {
+    Ethercat(DeviceHardwareIdentificationEthercat),
+    Serial(DeviceHardwareIdentificationSerial),
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceHardwareIdentificationEthercat {
+    pub subdevice_index: usize,
+}
+#[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
+pub struct DeviceHardwareIdentificationSerial {
+    pub path: String,
+}
@@ -0,0 +1,220 @@
+use smol::{
+    channel::Sender,
+    lock::{Mutex, RwLock},
+};
+use socketioxide::extract::SocketRef;
+
+use crate::{
+    machines::{
+        identification::MachineIdentificationUnique,
+        new::{MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams},
+    },
+    serial::SerialDevice,
+    socketio::event::GenericEvent,
+};
+use std::{collections::HashMap, sync::Arc};
+
+use super::{
+    Machine,
+    identification::{DeviceIdentification, DeviceIdentificationIdentified},
+    new::MachineNewHardwareSerial,
+    registry::MachineRegistry,
+};
+#[derive(Debug)]
+pub struct MachineManager {
+    pub ethercat_machines:
+        HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+    pub serial_machines:
+        HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+}
+
+impl MachineManager {
+    pub fn new() -> Self {
+        Self {
+            ethercat_machines: HashMap::new(),
+            serial_machines: HashMap::new(),
+        }
+    }
+
+    pub fn set_ethercat_devices<const MAX_SUBDEVICES: usize, const MAX_PDI: usize>(
+        &mut self,
+        device_identifications: &Vec<DeviceIdentification>,
+        machine_registry: &MachineRegistry,
+        hardware: &MachineNewHardwareEthercat,
+        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+    ) {
+        // empty ethercat machines
+        self.ethercat_machines.clear();
+
+        // group devices by machine device identification
+        let device_grouping_result = group_devices_by_identification(device_identifications);
+
+        tracing::info!(
+            "Device Groups {}",
+            device_grouping_result.device_groups.len()
+        );
+
+        let machine_new_hardware = MachineNewHardware::Ethercat(hardware);
+
+        // iterate over all identified device groups but ignore unaffected machines
+        for device_group in device_grouping_result.device_groups.iter() {
+            // get the machine identification
+            let machine_identification = match device_group.first() {
+                Some(device_identification) => &device_identification.device_machine_identification,
+                None => continue, // Skip this group if empty
+            };
+
+            // create the machine
+            let new_machine = machine_registry.new_machine(&MachineNewParams {
+                device_group,
+                hardware: &machine_new_hardware,
+                socket_queue_tx: socket_queue_tx.clone(),
+            });
+
+            // insert the machine into the ethercat machines map
+            self.ethercat_machines.insert(
+                machine_identification.machine_identification_unique.clone(),
+                new_machine,
+            );
+        }
+    }
+
+    pub fn get(
+        &self,
+        machine_identification: &MachineIdentificationUnique,
+    ) -> Option<&Result<Box<Mutex<dyn Machine>>, anyhow::Error>> {
+        self.ethercat_machines
+            .get(machine_identification)
+            .or_else(|| self.serial_machines.get(machine_identification))
+    }
+
+    pub fn add_serial_device(
+        &mut self,
+        device_identification: &DeviceIdentification,
+        device: Arc<RwLock<dyn SerialDevice>>,
+        machine_registry: &MachineRegistry,
+        socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+    ) {
+        let hardware = MachineNewHardwareSerial { device };
+
+        let device_identification_identified: DeviceIdentificationIdentified =
+            device_identification
+                .clone()
+                .try_into()
+                .expect("Serial devices always have machine identification");
+
+        let new_machine = machine_registry.new_machine(&MachineNewParams {
+            device_group: &vec![device_identification_identified.clone()],
+            hardware: &MachineNewHardware::Serial(&hardware),
+            socket_queue_tx,
+        });
+
+        tracing::info!("Adding serial machine {:?}", new_machine);
+
+        self.serial_machines.insert(
+            device_identification_identified
+                .device_machine_identification
+                .machine_identification_unique,
+            new_machine,
+        );
+    }
+
+    pub fn remove_serial_device(&mut self, device_identification: &DeviceIdentification) {
+        let device_identification_identified: DeviceIdentificationIdentified =
+            device_identification
+                .clone()
+                .try_into()
+                .expect("Serial devices always have machine identification");
+
+        tracing::info!(
+            "Removing serial machine {:?}",
+            device_identification_identified
+        );
+
+        self.serial_machines.remove(
+            &device_identification_identified
+                .device_machine_identification
+                .machine_identification_unique,
+        );
+    }
+}
+
+/// Groups devices by machine identification
+///
+/// Returns a DeviceGroupingResult containing:
+/// - device_groups: a vector of devices grouped by machine identification
+/// - unidentified_devices: a vector of devices that could not be identified
+pub fn group_devices_by_identification(
+    device_identifications: &Vec<DeviceIdentification>,
+) -> DeviceGroupingResult {
+    let mut device_groups: Vec<Vec<DeviceIdentificationIdentified>> = Vec::new();
+    let mut unidentified_devices: Vec<DeviceIdentification> = Vec::new();
+
+    for device_identification in device_identifications {
+        // if vendor or serial or machine is 0, it is not a valid machine device
+        if let Some(device_machine_identification) =
+            device_identification.device_machine_identification.as_ref()
+        {
+            if !device_machine_identification.is_valid() {
+                unidentified_devices.push(device_identification.clone());
+
+                continue;
+            }
+        } else {
+            unidentified_devices.push(device_identification.clone());
+            continue;
+        }
+
+        // scan over all deice groups
+        // get the first DeviceMachineIdentification
+        // compare and append to the group
+        let mut found = false;
+        for check_group in device_groups.iter_mut() {
+            // get first device in group
+            let first_device = check_group.first().expect("group to not be empty");
+            let first_device_machine_identification = &first_device
+                .device_machine_identification
+                .machine_identification_unique;
+
+            // chek if it has machine identification
+            if let Some(device_machine_identification) =
+                device_identification.device_machine_identification.as_ref()
+            {
+                // compare with the current device
+                if first_device_machine_identification
+                    == &device_machine_identification.machine_identification_unique
+                {
+                    let device_identification_identified = device_identification
+                        .clone()
+                        .try_into()
+                        .expect("should have Some(DeviceMachineIdentification)");
+                    check_group.push(device_identification_identified);
+                    found = true;
+                    break;
+                }
+            }
+        }
+
+        if !found {
+            let device_identification_identified = device_identification
+                .clone()
+                .try_into()
+                .expect("should have Some(DeviceMachineIdentification)");
+            device_groups.push(vec![device_identification_identified]);
+        }
+    }
+
+    DeviceGroupingResult {
+        device_groups,
+        unidentified_devices,
+    }
+}
+
+/// Structure to hold the result of grouping devices by identification
+#[derive(Debug)]
+pub struct DeviceGroupingResult {
+    /// Devices grouped by machine identification
+    pub device_groups: Vec<Vec<DeviceIdentificationIdentified>>,
+    /// Devices that could not be identified
+    pub unidentified_devices: Vec<DeviceIdentification>,
+}
@@ -0,0 +1,82 @@
+use std::collections::HashMap;
+
+use smol::lock::Mutex;
+
+use super::{Machine, identification::MachineIdentificationUnique, manager::MachineManager};
+
+pub enum MachineManagerIter<'a> {
+    EthercatMachines {
+        iter: std::collections::hash_map::Iter<
+            'a,
+            MachineIdentificationUnique,
+            Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+        >,
+    },
+    SerialMachines {
+        iter: std::collections::hash_map::Iter<
+            'a,
+            MachineIdentificationUnique,
+            Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+        >,
+    },
+    Done,
+}
+
+pub struct MachineManagerIterator<'a> {
+    iter: MachineManagerIter<'a>,
+    serial_machines:
+        &'a HashMap<MachineIdentificationUnique, Result<Box<Mutex<dyn Machine>>, anyhow::Error>>,
+}
+
+impl<'a> Iterator for MachineManagerIterator<'a> {
+    type Item = (
+        &'a MachineIdentificationUnique,
+        &'a Result<Box<Mutex<dyn Machine>>, anyhow::Error>,
+    );
+
+    fn next(&mut self) -> Option<Self::Item> {
+        loop {
+            match &mut self.iter {
+                MachineManagerIter::EthercatMachines { iter } => {
+                    // Try to get the next item from ethercat_machines
+                    if let Some(item) = iter.next() {
+                        return Some(item);
+                    } else {
+                        // If ethercat_machines is exhausted, move to serial_machines
+                        self.iter = MachineManagerIter::SerialMachines {
+                            iter: self.serial_machines.iter(),
+                        };
+                        // Continue to the next iteration of the loop
+                        continue;
+                    }
+                }
+                MachineManagerIter::SerialMachines { iter } => {
+                    // Return the next item from serial_machines or None if exhausted
+                    if let Some(item) = iter.next() {
+                        return Some(item);
+                    } else {
+                        // If serial_machines is also exhausted, we're done
+                        self.iter = MachineManagerIter::Done;
+                        return None;
+                    }
+                }
+                MachineManagerIter::Done => {
+                    // We've exhausted both collections
+                    return None;
+                }
+            }
+        }
+    }
+}
+
+impl MachineManager {
+    // Returns an iterator over all machines (both ethercat and serial)
+    pub fn iter(&self) -> MachineManagerIterator {
+        MachineManagerIterator {
+            iter: MachineManagerIter::EthercatMachines {
+                iter: self.ethercat_machines.iter(),
+            },
+            serial_machines: &self.serial_machines,
+        }
+    }
+}
@@ -0,0 +1,13 @@
+use crate::actors::Actor;
+use api::MachineApi;
+use new::MachineNewTrait;
+use std::any::Any;
+use std::fmt::Debug;
+pub mod api;
+pub mod identification;
+pub mod manager;
+pub mod manager_iter;
+pub mod new;
+pub mod registry;
+
+pub trait Machine: MachineNewTrait + MachineApi + Actor + Any + Debug {}
@@ -0,0 +1,253 @@
+use crate::serial::SerialDevice;
+
+use super::identification::DeviceIdentificationIdentified;
+use anyhow::Error;
+use ethercat_hal::{
+    devices::EthercatDevice, helpers::ethercrab_types::EthercrabSubDevicePreoperational,
+};
+use ethercrab::{SubDevice, SubDeviceRef};
+use smol::{channel::Sender, lock::RwLock};
+use socketioxide::extract::SocketRef;
+use std::sync::Arc;
+
+use crate::socketio::event::GenericEvent;
+
+pub trait MachineNewTrait {
+    fn new<'maindevice, 'subdevices>(
+        params: &MachineNewParams<'maindevice, 'subdevices, '_, '_, '_, '_, '_>,
+    ) -> Result<Self, Error>
+    where
+        Self: Sized;
+}
+
+pub struct MachineNewParams<
+    'maindevice,
+    'subdevices,
+    'device_identifications_identified,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+    'machine_new_hardware,
+> where
+    'maindevice: 'machine_new_hardware,
+    'subdevices: 'machine_new_hardware,
+    'ethercat_devices: 'machine_new_hardware,
+    'machine_new_hardware_etehrcat: 'machine_new_hardware,
+{
+    pub device_group: &'device_identifications_identified Vec<DeviceIdentificationIdentified>,
+    pub hardware: &'machine_new_hardware MachineNewHardware<
+        'maindevice,
+        'subdevices,
+        'ethercat_devices,
+        'machine_new_hardware_etehrcat,
+        'machine_new_hardware_serial,
+    >,
+    pub socket_queue_tx: Sender<(SocketRef, Arc<GenericEvent>)>,
+}
+
+pub enum MachineNewHardware<
+    'maindevice,
+    'subdevices,
+    'ethercat_devices,
+    'machine_new_hardware_etehrcat,
+    'machine_new_hardware_serial,
+> where
+    'maindevice: 'machine_new_hardware_etehrcat,
+    'subdevices: 'machine_new_hardware_etehrcat,
+    'ethercat_devices: 'machine_new_hardware_etehrcat,
+{
+    Ethercat(
+        &'machine_new_hardware_etehrcat MachineNewHardwareEthercat<
+            'maindevice,
+            'subdevices,
+            'ethercat_devices,
+        >,
+    ),
+    Serial(&'machine_new_hardware_serial MachineNewHardwareSerial),
+}
+
+pub struct MachineNewHardwareEthercat<'maindevice, 'subdevices, 'ethercat_devices> {
+    pub subdevices:
+        &'subdevices Vec<&'subdevices SubDeviceRef<'maindevice, &'subdevices SubDevice>>,
+    pub ethercat_devices: &'ethercat_devices Vec<Arc<RwLock<dyn EthercatDevice>>>,
+}
+
+pub struct MachineNewHardwareSerial {
+    pub device: Arc<RwLock<dyn SerialDevice>>,
+}
+
+// validates that all devices in the group have the same machine identification
+pub fn validate_same_machine_identification_unique(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let machine_identification_unique = &identified_device_group
+        .first()
+        .ok_or_else(|| {
+            anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] No devices in group",
+                module_path!()
+            )
+        })?
+        .device_machine_identification
+        .machine_identification_unique;
+    for device in identified_device_group.iter() {
+        if device
+            .device_machine_identification
+            .machine_identification_unique
+            != *machine_identification_unique
+        {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_same_machine_identification] Different machine identifications",
+                module_path!()
+            ));
+        }
+    }
+    Ok(())
+}
+
+/// validates that every role is unique
+pub fn validate_no_role_dublicates(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+) -> Result<(), Error> {
+    let mut roles = vec![];
+    for device in identified_device_group.iter() {
+        if roles.contains(&device.device_machine_identification.role) {
+            return Err(anyhow::anyhow!(
+                "[{}::validate_no_role_dublicates] Role dublicate",
+                module_path!(),
+            ));
+        }
+        roles.push(device.device_machine_identification.role);
+    }
+    Ok(())
+}
+
+// Inside control_core::machines::new module:
+pub fn get_device_identification_by_role(
+    identified_device_group: &Vec<DeviceIdentificationIdentified>,
+    role: u16,
+) -> Result<&DeviceIdentificationIdentified, Error> {
+    for device in identified_device_group.iter() {
+        if device.device_machine_identification.role == role {
+            return Ok(device);
+        }
+    }
+    Err(anyhow::anyhow!(
+        "[{}::get_device_identification_by_role] Role {} not found",
+        module_path!(),
+        role
+    ))
+}
+
+pub fn get_device_by_index<'maindevice>(
+    devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_device_by_index] Index {} out of bounds for devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+pub fn get_subdevice_by_index<'subdevices, 'maindevice>(
+    subdevices: &'subdevices Vec<&EthercrabSubDevicePreoperational<'maindevice>>,
+    subdevice_index: usize,
+) -> Result<&'subdevices EthercrabSubDevicePreoperational<'maindevice>, Error> {
+    Ok(subdevices.get(subdevice_index).ok_or(anyhow::anyhow!(
+        "Index {} out of bounds for subdevices",
+        subdevice_index
+    ))?)
+}
+
+pub fn get_ethercat_device_by_index<'maindevice>(
+    ethercat_devices: &Vec<Arc<RwLock<dyn EthercatDevice>>>,
+    subdevice_index: usize,
+) -> Result<Arc<RwLock<dyn EthercatDevice>>, Error> {
+    Ok(ethercat_devices
+        .get(subdevice_index)
+        .ok_or(anyhow::anyhow!(
+            "[{}::get_ethercat_device_by_index] Index {} out of bounds for ethercat devices",
+            module_path!(),
+            subdevice_index
+        ))?
+        .clone())
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::machines::identification::{
+        DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat,
+        DeviceMachineIdentification, MachineIdentification, MachineIdentificationUnique,
+    };
+
+    pub use super::*;
+
+    #[test]
+    fn test_get_device_identification_by_role() {
+        let device_identifications = vec![
+            // role 0
+            DeviceIdentificationIdentified {
+                device_machine_identification: DeviceMachineIdentification {
+                    machine_identification_unique: MachineIdentificationUnique {
+                        machine_identification: MachineIdentification {
+                            vendor: 1,
+                            machine: 1,
+                        },
+                        serial: 1,
+                    },
+                    role: 0,
+                },
+                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
+                    DeviceHardwareIdentificationEthercat { subdevice_index: 0 },
+                ),
+            },
+            // role 1
+            DeviceIdentificationIdentified {
+                device_machine_identification: DeviceMachineIdentification {
+                    machine_identification_unique: MachineIdentificationUnique {
+                        machine_identification: MachineIdentification {
+                            vendor: 2,
+                            machine: 2,
+                        },
+                        serial: 2,
+                    },
+                    role: 2,
+                },
+                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
+                    DeviceHardwareIdentificationEthercat { subdevice_index: 1 },
+                ),
+            },
+            // role 2
+            DeviceIdentificationIdentified {
+                device_machine_identification: DeviceMachineIdentification {
+                    machine_identification_unique: MachineIdentificationUnique {
+                        machine_identification: MachineIdentification {
+                            vendor: 3,
+                            machine: 3,
+                        },
+                        serial: 3,
+                    },
+                    role: 1,
+                },
+                device_hardware_identification: DeviceHardwareIdentification::Ethercat(
+                    DeviceHardwareIdentificationEthercat { subdevice_index: 2 },
+                ),
+            },
+        ];
+
+        // search for role 0
+        let result = get_device_identification_by_role(&device_identifications, 0);
+        assert_eq!(result.unwrap().device_machine_identification.role, 0,);
+
+        // search for role 1
+        let result = get_device_identification_by_role(&device_identifications, 1);
+        assert_eq!(result.unwrap().device_machine_identification.role, 1,);
+        // search for role 2
+        let result = get_device_identification_by_role(&device_identifications, 2);
+        assert_eq!(result.unwrap().device_machine_identification.role, 2,);
+    }
+}
@@ -0,0 +1,68 @@
+use super::{Machine, identification::MachineIdentification, new::MachineNewParams};
+use anyhow::Error;
+use smol::lock::Mutex;
+use std::{any::TypeId, collections::HashMap};
+
+pub type MachineNewClosure =
+    Box<dyn Fn(&MachineNewParams) -> Result<Box<Mutex<dyn Machine>>, Error> + Send + Sync>;
+
+pub struct MachineRegistry {
+    type_map: HashMap<TypeId, (MachineIdentification, MachineNewClosure)>,
+}
+
+impl MachineRegistry {
+    pub fn new() -> Self {
+        Self {
+            type_map: HashMap::new(),
+        }
+    }
+
+    pub fn register<T: Machine + 'static>(
+        &mut self,
+        machine_identficiation: MachineIdentification,
+    ) {
+        self.type_map.insert(
+            TypeId::of::<T>(),
+            (
+                machine_identficiation,
+                // create a machine construction closure
+                Box::new(|machine_new_params| {
+                    Ok(Box::new(Mutex::new(T::new(machine_new_params)?)))
+                }),
+            ),
+        );
+    }
+
+    pub fn new_machine(
+        &self,
+        machine_new_params: &MachineNewParams,
+    ) -> Result<Box<Mutex<dyn Machine>>, anyhow::Error> {
+        // get machiine identification
+        let device_identification =
+            &machine_new_params
+                .device_group
+                .first()
+                .ok_or(anyhow::anyhow!(
+                    "[{}::MachineConstructor::new_machine] No device in group",
+                    module_path!()
+                ))?;
+
+        // find machine new function by comparing MachineIdentification
+        let (_, machine_new_closure) = self
+            .type_map
+            .values()
+            .find(|(mi, _)| {
+                mi == &device_identification
+                    .device_machine_identification
+                    .machine_identification_unique
+                    .machine_identification
+            })
+            .ok_or(anyhow::anyhow!(
+                "[{}::MachineConstructor::new_machine] Machine not found",
+                module_path!()
+            ))?;
+
+        // call machine new function by reference
+        (machine_new_closure)(machine_new_params)
+    }
+}
@@ -1,10 +1,7 @@
-pub mod modbus_serial_interface;
-
 use anyhow::Error;
 use crc::{CRC_16_MODBUS, Crc};
-use serialport::SerialPort;
+use serial;
 use std::time::Duration;
-
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum ParityType {
    Even,
@@ -25,58 +22,6 @@ pub enum ModbusFunctionCode {
    DiagnoseFunction,
 }

-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
-#[repr(u8)]
-pub enum ModbusExceptionCode {
-    None = 0,
-    IllegalFunction = 1,
-    IllegalDataAddress = 2,
-    IllegalDataValue = 3,
-    SlaveDeviceFailure = 4,
-    Acknowledge = 5,
-    SlaveDeviceBusy = 6,
-    MemoryParityError = 8,
-    GatewayPathUnavailable = 10,
-    GatewayTargetDeviceFailedToRespond = 11,
-    Unknown(u8), // For any unknown exception codes
-}
-
-impl From<ModbusExceptionCode> for u8 {
-    fn from(code: ModbusExceptionCode) -> Self {
-        match code {
-            ModbusExceptionCode::None => 0,
-            ModbusExceptionCode::IllegalFunction => 1,
-            ModbusExceptionCode::IllegalDataAddress => 2,
-            ModbusExceptionCode::IllegalDataValue => 3,
-            ModbusExceptionCode::SlaveDeviceFailure => 4,
-            ModbusExceptionCode::Acknowledge => 5,
-            ModbusExceptionCode::SlaveDeviceBusy => 6,
-            ModbusExceptionCode::MemoryParityError => 8,
-            ModbusExceptionCode::GatewayPathUnavailable => 10,
-            ModbusExceptionCode::GatewayTargetDeviceFailedToRespond => 11,
-            ModbusExceptionCode::Unknown(code) => code,
-        }
-    }
-}
-
-impl From<u8> for ModbusExceptionCode {
-    fn from(value: u8) -> Self {
-        match value {
-            0 => Self::None,
-            1 => Self::IllegalFunction,
-            2 => Self::IllegalDataAddress,
-            3 => Self::IllegalDataValue,
-            4 => Self::SlaveDeviceFailure,
-            5 => Self::Acknowledge,
-            6 => Self::SlaveDeviceBusy,
-            8 => Self::MemoryParityError,
-            10 => Self::GatewayPathUnavailable,
-            11 => Self::GatewayTargetDeviceFailedToRespond,
-            other => Self::Unknown(other),
-        }
-    }
-}
-
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub struct ModbusRequest {
    pub slave_id: u8,
@@ -97,10 +42,10 @@ impl TryFrom<u8> for ModbusFunctionCode {

    fn try_from(value: u8) -> Result<Self, Self::Error> {
        match value {
-            0x03 => Ok(Self::ReadHoldingRegister),
-            0x04 => Ok(Self::ReadInputRegister),
-            0x06 => Ok(Self::PresetHoldingRegister),
-            0x08 => Ok(Self::DiagnoseFunction),
+            0x03 => Ok(ModbusFunctionCode::ReadHoldingRegister),
+            0x04 => Ok(ModbusFunctionCode::ReadInputRegister),
+            0x06 => Ok(ModbusFunctionCode::PresetHoldingRegister),
+            0x08 => Ok(ModbusFunctionCode::DiagnoseFunction),
            _ => Err(anyhow::anyhow!("Error: Modbus Function Code doesnt exist!")),
        }
    }
@@ -119,7 +64,7 @@ impl From<ModbusFunctionCode> for u8 {

 impl From<ModbusRequest> for Vec<u8> {
    fn from(request: ModbusRequest) -> Self {
-        let mut buffer = Self::new();
+        let mut buffer = Vec::new();

        buffer.push(request.slave_id);
        buffer.push(request.function_code.into()); // convert functioncode into u8 and push it
@@ -132,7 +77,7 @@ impl From<ModbusRequest> for Vec<u8> {
        // convert u16 value to le_bytes and add it to the end of the frame
        buffer.extend_from_slice(&result_crc.to_le_bytes());

-        buffer
+        return buffer;
    }
 }
 /// Reads data from a Modbus device via a serial port.
@@ -143,7 +88,9 @@ impl From<ModbusRequest> for Vec<u8> {
 /// # Returns
 /// A `Result` containing an `Option` with the raw Modbus response as a `Vec<u8>` if successful,
 /// or `None` if the response is invalid or an error occurs.
-pub fn receive_data_modbus(port: &mut dyn SerialPort) -> Result<Option<Vec<u8>>, anyhow::Error> {
+pub fn receive_data_modbus(
+    port: &mut dyn serial::SerialPort,
+) -> Result<Option<Vec<u8>>, anyhow::Error> {
    let mut buf: [u8; 256] = [0; 256];
    let data_length = port.read(&mut buf)?;
    if data_length == 0 {
@@ -153,7 +100,7 @@ pub fn receive_data_modbus(port: &mut dyn SerialPort) -> Result<Option<Vec<u8>>,
 }

 /// Computes Modbus CRC-16 using `crc` crate.
-pub const fn modbus_crc16(data: &[u8]) -> u16 {
+pub fn modbus_crc16(data: &[u8]) -> u16 {
    let modbus: Crc<u16> = Crc::<u16>::new(&CRC_16_MODBUS);
    modbus.checksum(data)
 }
@@ -204,17 +151,23 @@ fn extract_crc(raw_data: &Vec<u8>) -> Result<u16, Error> {
 }
 impl TryFrom<Vec<u8>> for ModbusResponse {
    type Error = anyhow::Error;
-    fn try_from(value: Vec<u8>) -> Result<Self, Error> {
-        let crc = extract_crc(&value)?;
+    fn try_from(value: Vec<u8>) -> Result<ModbusResponse, Error> {
+        let crc = match extract_crc(&value) {
+            Ok(crc_value) => crc_value,
+            Err(err) => return Err(err),
+        };

        let function_code_res = ModbusFunctionCode::try_from(value[1]);
-        let function_code = function_code_res?;
+        let function_code = match function_code_res {
+            Ok(code) => code,
+            Err(err) => return Err(err),
+        };

-        Ok(Self {
+        Ok(ModbusResponse {
            slave_id: value[0],
-            function_code,
+            function_code: function_code,
            data: value[2..value.len() - 2].to_vec(), // get data without the crc
-            crc,
+            crc: crc,
        })
    }
 }
@@ -226,23 +179,23 @@ impl TryFrom<Vec<u8>> for ModbusResponse {
 /// machine_operation_delay_nano: Delay for the given operation in nanoseconds as specified by the slaves datasheet (example: mitsubishi csfr84 has 12ms for read write in RAM)
 /// baudrate: bits per second
 /// message_size: size of original message in bytes
-pub const fn calculate_modbus_rtu_timeout(
+pub fn calculate_modbus_rtu_timeout(
    bits: u8,
    machine_operation_delay_nano: Duration,
    baudrate: u32,
    message_size: usize,
 ) -> Duration {
    let nanoseconds_per_bit: u64 = (1000000 / baudrate) as u64;
-    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit;
+    let nanoseconds_per_byte: u64 = bits as u64 * nanoseconds_per_bit as u64;

    let transmission_timeout: u64 = nanoseconds_per_byte * message_size as u64;
-    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10_u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1
+    let silent_time: u64 = (nanoseconds_per_byte * (35)) / 10 as u64; // silent_time is 3.5x of character length,which is 11 bit for 8E1

    let mut full_timeout: u64 = transmission_timeout;
    full_timeout += machine_operation_delay_nano.as_nanos() as u64;
    full_timeout += silent_time;

-    Duration::from_nanos(full_timeout)
+    return Duration::from_nanos(full_timeout);
 }

 #[cfg(test)]
@@ -1,268 +0,0 @@
-use crate::modbus::{ModbusRequest, ModbusResponse};
-use ethercat_hal::io::serial_interface::{SerialEncoding, SerialInterface};
-use std::{
-    collections::HashMap,
-    time::{Duration, Instant},
-};
-
-#[derive(Debug, Clone)]
-struct RequestMetaData {
-    priority: u32,
-    ignored_times: u32,
-    /// This is used when a machine for example takes 4ms to process the request
-    /// and is added ontop of the standard waiting time for a serial transfer
-    extra_delay: Option<u32>,
-    no_response_expected: bool,
-}
-
-#[derive(Debug)]
-pub enum State {
-    /// WaitingForResponse is set after sending a request through the serial_interface
-    WaitingForResponse,
-    /// After Sending a Request we need to wait atleast one ethercat cycle
-    /// After one Cycle we check if el6021 status has transmit accepted toggled
-    /// Then we can set state = ReadyToSend
-    WaitingForRequestAccept,
-    /// After Receiving a Response we need to wait atleast one ethercat cycle
-    /// After one Cycle we check if el6021 status has received accepted toggled
-    WaitingForReceiveAccept,
-    /// ReadyToSend is set after receiving the response from the serial_interface
-    ReadyToSend,
-    /// Initial State
-    Uninitialized,
-}
-
-#[derive(Debug)]
-pub struct ModbusSerialInterface {
-    serial_interface: SerialInterface,
-    baudrate: Option<u32>,
-    encoding: Option<SerialEncoding>,
-    response: Option<ModbusResponse>,
-    state: State,
-    last_message_size: usize,
-    last_message_delay: u32,
-    pub last_message_id: u32,
-    no_response_expected: bool,
-    request_map: HashMap<u32, ModbusRequest>,
-    request_metadata_map: HashMap<u32, RequestMetaData>,
-    last_ts: Instant,
-}
-
-impl ModbusSerialInterface {
-    pub fn new(serial_interface: SerialInterface) -> Self {
-        Self {
-            serial_interface,
-            baudrate: None,
-            encoding: None,
-            request_map: HashMap::new(),
-            request_metadata_map: HashMap::new(),
-            response: None,
-            last_message_size: 0,
-            last_message_delay: 0,
-            state: State::Uninitialized,
-            last_ts: Instant::now(),
-            last_message_id: 0,
-            no_response_expected: false,
-        }
-    }
-
-    pub const fn is_initialized(&self) -> bool {
-        !matches!(self.state, State::Uninitialized)
-    }
-
-    pub fn add_request(
-        &mut self,
-        request_id: u32,
-        priority: u32,
-        request: ModbusRequest,
-        no_response_expected: bool,
-        delay: Option<u32>,
-    ) {
-        self.request_map.insert(request_id, request);
-        self.request_metadata_map
-            .entry(request_id)
-            .or_insert_with(|| RequestMetaData {
-                priority,
-                ignored_times: 0,
-                extra_delay: delay,
-                no_response_expected,
-            });
-    }
-
-    /// This is used internally to read the receive buffer of the el6021
-    async fn read_modbus_response(&mut self) -> Result<ModbusResponse, anyhow::Error> {
-        let raw_response = (self.serial_interface.read_message)()
-            .await
-            .unwrap_or_default();
-
-        let response = ModbusResponse::try_from(raw_response)?;
-        self.last_message_size = response.data.len() + 4;
-        self.state = State::WaitingForReceiveAccept;
-        Ok(response)
-    }
-
-    /// This is used internally to fill the write buffer of the el6021 with the modbus request
-    /// Decides what requests to send first by finding the one with the highest priority
-    /// For example Highest Priority requests: ResetInverter StopMotor
-    async fn send_modbus_request(&mut self) {
-        if self.request_map.is_empty() {
-            return;
-        }
-
-        let (highest_id, delay, no_response_expected) = self
-            .request_metadata_map
-            .iter_mut()
-            .map(|(key, value)| {
-                let effective_priority = value.priority + value.ignored_times;
-                (
-                    *key,
-                    effective_priority,
-                    value.extra_delay.unwrap_or(0),
-                    value.no_response_expected,
-                )
-            })
-            .max_by_key(|(_, priority, _, _)| *priority)
-            .map(|(key, _, delay, no_response)| (key, delay, no_response))
-            .unwrap(); // Safe because we checked is_empty() above
-
-        let request = &self.request_map[&highest_id];
-        let modbus_request: Vec<u8> = request.clone().into();
-
-        if let Err(_) = (self.serial_interface.write_message)(modbus_request.clone()).await {
-            tracing::error!("ERROR: serial_interface.write_message has failed");
-        } else {
-            self.last_message_delay = delay;
-            self.last_message_id = highest_id;
-            self.no_response_expected = no_response_expected;
-        }
-
-        self.state = State::WaitingForRequestAccept;
-        self.last_message_size = modbus_request.len();
-    }
-
-    pub async fn initialize_communication_settings(&mut self) -> bool {
-        let baudrate = (self.serial_interface.get_baudrate)().await;
-        let encoding = (self.serial_interface.get_serial_encoding)().await;
-
-        match (baudrate, encoding) {
-            (Some(b), Some(e)) => {
-                self.baudrate = Some(b);
-                self.encoding = Some(e);
-                true
-            }
-            _ => false,
-        }
-    }
-
-    pub async fn initialize(&mut self) -> bool {
-        if matches!(self.state, State::Uninitialized) {
-            let success = (self.serial_interface.initialize)().await;
-            if success {
-                self.state = State::ReadyToSend;
-                self.initialize_communication_settings().await;
-            }
-            success
-        } else {
-            false
-        }
-    }
-
-    fn increment_ignored_times(&mut self) {
-        for metadata in self.request_metadata_map.values_mut() {
-            metadata.ignored_times += 1;
-        }
-    }
-
-    /// Modbus RTU has silent time between frames that needs to be adhered to, if you send before silent_time is over between frames, then there will be lost frames
-    /// This silent time is needed to identify the start and end of messages
-    /// This function also takes into account the time that the slave we are talking to needs to process our request
-    /// bits: amount of bits sent per byte -> for a 8n1 coding: 8 data bits, 0 parity, 1 stop bit (1 start,1 stop) -> 10 bits
-    /// machine_operation_delay_nano: Delay for the given operation in nanoseconds as specified by the slaves datasheet (example: mitsubishi csfr84 has 12ms for read write in RAM)
-    /// baudrate: bits per second
-    /// message_size: size of original message in bytes
-    pub fn calculate_modbus_rtu_timeout(
-        &self,
-        machine_operation_delay: Duration,
-        message_size: usize,
-    ) -> Option<Duration> {
-        let baudrate = self.baudrate?;
-        let encoding = self.encoding?;
-
-        let nanoseconds_per_bit = 1_000_000_000 / baudrate as u64;
-        let nanoseconds_per_byte = encoding.total_bits() as u64 * nanoseconds_per_bit;
-
-        let transmission_timeout = nanoseconds_per_byte * message_size as u64;
-        let silent_time = (nanoseconds_per_byte * 35) / 10; // silent_time is 3.5x of character length
-
-        let total_timeout =
-            transmission_timeout + machine_operation_delay.as_nanos() as u64 + silent_time;
-        Some(Duration::from_nanos(total_timeout))
-    }
-
-    pub const fn get_response(&self) -> Option<&ModbusResponse> {
-        self.response.as_ref()
-    }
-
-    pub async fn act(&mut self, now_ts: Instant) {
-        let elapsed = now_ts.duration_since(self.last_ts);
-
-        let timeout = self.calculate_modbus_rtu_timeout(
-            Duration::from_nanos(self.last_message_delay as u64),
-            self.last_message_size,
-        );
-
-        let Some(timeout) = timeout else { return };
-
-        // Check if we need to wait for timeout (except for specific states)
-        if !matches!(
-            self.state,
-            State::Uninitialized | State::WaitingForReceiveAccept | State::WaitingForRequestAccept
-        ) && elapsed < timeout
-        {
-            return;
-        }
-
-        self.last_ts = now_ts;
-        self.response = None;
-
-        match self.state {
-            State::WaitingForResponse => match self.read_modbus_response().await {
-                Ok(response) => {
-                    self.response = Some(response);
-                }
-                Err(_) => {
-                    self.response = None;
-                    if self.no_response_expected {
-                        self.state = State::ReadyToSend;
-                    }
-                }
-            },
-            State::ReadyToSend => {
-                self.send_modbus_request().await;
-
-                // Remove the sent request
-                self.request_map.remove(&self.last_message_id);
-                self.request_metadata_map.remove(&self.last_message_id);
-                self.increment_ignored_times();
-            }
-            State::WaitingForReceiveAccept => {
-                // Waste at least one Ethercat Cycle here to ensure that request/response stay in sync
-                self.state = State::ReadyToSend;
-            }
-            State::WaitingForRequestAccept => {
-                // An empty vec is used to check if we are finished with writing the message
-                // This is to keep the Serialinterface more simple
-                match (self.serial_interface.write_message)(vec![]).await {
-                    Ok(finished) if finished => {
-                        self.state = State::WaitingForResponse;
-                    }
-                    Err(_) => {
-                        self.state = State::ReadyToSend;
-                    }
-                    _ => {} // Still waiting
-                }
-            }
-            State::Uninitialized => {}
-        }
-    }
-}
@@ -1,178 +0,0 @@
-use tracing::debug;
-use tracing::error;
-
-#[cfg(target_os = "linux")]
-/// Makes the current thread a real-time thread using the PREEMPT_RT capabilities of Linux.
-///
-/// This function configures the current thread with real-time scheduling properties by:
-///
-/// 1. Setting the scheduling policy to SCHED_FIFO (First-In-First-Out), which is a real-time
-///    scheduling policy that allows the thread to run until it voluntarily yields, blocks on I/O,
-///    or is preempted by a higher-priority real-time thread.
-///
-/// 2. Setting the real-time priority to 80 (on a scale of 1-99, where higher values indicate
-///    higher priority). This priority level is chosen to be higher than most IRQ handlers
-///    (typically priority 50) but lower than critical kernel tasks (priority 99).
-///
-/// When running on a PREEMPT_RT patched Linux kernel, this combination provides deterministic
-/// scheduling with minimal latency, which is essential for real-time applications.
-///
-/// # Requirements
-///
-/// - The program must run with appropriate permissions to set real-time priorities.
-///   This typically means either:
-///   - Running as root
-///   - Configuring `/etc/security/limits.conf` to allow the user to set real-time priorities
-///
-/// - The system should be running a Linux kernel with PREEMPT_RT patch applied for
-///   optimal real-time performance.
-///
-/// # Example
-///
-/// ```ignore
-/// fn main() {
-///     // Lock memory to prevent page faults
-///     lock_memory();
-///     
-///     // Create a thread and make it real-time
-///     std::thread::spawn(|| {
-///         set_realtime_priority();
-///         
-///         // Real-time code here
-///     });
-/// }
-/// ```
-///
-/// # Returns
-///
-/// - `Ok(())` if the real-time priority was successfully set
-/// - `Err` with the error message if setting the priority failed
-#[cfg(target_os = "linux")]
-pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
-    use anyhow::anyhow;
-    use libc::{SCHED_FIFO, pthread_setschedparam, sched_param};
-    use std::mem;
-
-    unsafe {
-        // Get the pthread_t of the current thread using pthread_self()
-        let pthread_self = libc::pthread_self();
-
-        // Set up the scheduling parameters
-        let mut param: sched_param = mem::zeroed();
-        param.sched_priority = 95;
-
-        // Set the thread to use SCHED_FIFO scheduling policy with our priority
-        let result = pthread_setschedparam(pthread_self, SCHED_FIFO, &param);
-
-        if result != 0 {
-            error!(
-                "Failed to set real-time scheduling policy for thread \"{:?}\": {}",
-                std::thread::current().name().unwrap_or("unknown"),
-                std::io::Error::last_os_error()
-            );
-            return Err(anyhow!(
-                "Failed to set real-time priority: {}",
-                std::io::Error::last_os_error()
-            ));
-        } else {
-            debug!(
-                "Successfully set real-time priority for the thread \"{:?}\"",
-                std::thread::current().name().unwrap_or("unknown")
-            );
-        }
-    }
-    Ok(())
-}
-
-#[cfg(not(target_os = "linux"))]
-pub fn set_realtime_priority() -> Result<(), anyhow::Error> {
-    tracing::error!("This platform does not support realtime threads");
-    Ok(())
-}
-
-/// Locks all current and future memory pages of the process into RAM to prevent page faults.
-///
-/// # When to call this function
-///
-/// This function should be called from the main thread, as early as possible in your program's
-/// execution, ideally before creating any threads and before allocating large amounts of memory.
-///
-/// Important: You only need to call this function ONCE per process, not in each thread.
-/// The memory locking applies to the entire process, including:
-/// - The main thread
-/// - All threads created after the call
-///
-/// This happens because all threads in a process share the same virtual memory space, and
-/// `mlockall()` operates on the entire process's memory space, not just the calling thread.
-///
-/// # Example: Correct usage
-///
-/// ```ignore
-/// fn main() -> Result<(), Box<dyn std::error::Error>> {
-///     // Call early in main, before creating threads
-///     lock_memory()?;
-///     
-///     // Now create real-time threads...
-///     std::thread::spawn(|| {
-///         set_realtime_priority();
-///         // Real-time code here
-///     });
-///     
-///     Ok(())
-/// }
-/// ```
-///
-/// # Example: Incorrect usage
-///
-/// ```ignore
-/// fn main() {
-///     // Don't do this - calling in each thread is unnecessary
-///     std::thread::spawn(|| {
-///         lock_memory().unwrap(); // Redundant if already called in main
-///         set_realtime_priority();
-///     });
-/// }
-/// ```
-///
-/// # How it works
-///
-/// [Rest of documentation as before...]
-#[cfg(target_os = "linux")]
-pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
-    use libc::{MCL_FUTURE, mlockall};
-
-    unsafe {
-        if mlockall(MCL_FUTURE) != 0 {
-            error!("Failed to lock memory: {}", std::io::Error::last_os_error());
-            return Err(
-                format!("Failed to lock memory: {}", std::io::Error::last_os_error()).into(),
-            );
-        } else {
-            debug!("Successfully locked memory for the process");
-        }
-    }
-    Ok(())
-}
-
-#[cfg(not(target_os = "linux"))]
-pub fn lock_memory() -> Result<(), Box<dyn std::error::Error>> {
-    tracing::error!("This platform does not support memory locking");
-    Ok(())
-}
-
-pub fn set_core_affinity(core_id: usize) -> Result<(), anyhow::Error> {
-    let cores = core_affinity::get_core_ids().unwrap_or_default();
-    let core = cores.get(core_id);
-    if let Some(core) = core {
-        core_affinity::set_for_current(*core);
-        debug!(
-            "Set core affinity of thread \"{:?}\" to core {:?}",
-            std::thread::current().name().unwrap_or("unknown"),
-            core
-        );
-        Ok(())
-    } else {
-        error!("No cores available to set affinity");
-        Err(anyhow::anyhow!("No cores available to set affinity"))
-    }
-}
@@ -0,0 +1 @@
+pub mod mutation;
@@ -0,0 +1,35 @@
+use std::fmt::Debug;
+
+use serde::Serialize;
+
+use crate::machines::identification::MachineIdentificationUnique;
+
+#[derive(Debug, Serialize, Clone)]
+pub struct MutationResponse {
+    pub success: bool,
+    pub error: Option<String>,
+}
+
+impl MutationResponse {
+    pub fn success() -> Self {
+        Self {
+            success: true,
+            error: None,
+        }
+    }
+    pub fn error(error: String) -> Self {
+        Self {
+            success: false,
+            error: Some(error),
+        }
+    }
+}
+
+#[derive(Debug, serde::Deserialize)]
+pub struct MachineMutationBody<T>
+where
+    T: Debug,
+{
+    pub machine_identification_unique: MachineIdentificationUnique,
+    pub data: T,
+}
@@ -1,10 +1,12 @@
-/*use std::{any::Any, sync::Arc};
+use std::{any::Any, sync::Arc};

 use smol::lock::RwLock;
 use std::fmt::Debug;

 use crate::machines::identification::DeviceIdentification;

+pub mod panic;
+pub mod registry;
 pub mod serial_detection;

 pub trait SerialDevice: Any + Send + Sync + SerialDeviceNew + Debug {}
@@ -23,11 +25,11 @@ pub trait SerialDeviceThread {

 pub struct SerialDeviceNewParams {
    pub path: String,
+    pub device_thread_panic_tx: smol::channel::Sender<(String, anyhow::Error)>,
 }

-#[derive(PartialEq, Eq, Clone, Debug, Hash)]
+#[derive(PartialEq, Clone, Debug)]
 pub struct SerialDeviceIdentification {
    pub vendor_id: u16,
    pub product_id: u16,
 }
-*/
@@ -0,0 +1,52 @@
+use smol::channel::Sender;
+
+/// Device-level panic handler for individual device crashes
+/// Sends device identifier and error information for cleanup
+/// Used by serial devices and other individual components that need to be removed on panic
+pub fn send_serial_device_panic<T>(
+    device_identifier: T,
+    thread_panic_tx: Sender<(T, anyhow::Error)>,
+) where
+    T: Send + Sync + Clone + 'static,
+{
+    // Ensure backtrace is enabled for panics
+    if std::env::var("RUST_BACKTRACE").is_err() {
+        unsafe {
+            std::env::set_var("RUST_BACKTRACE", "full");
+        }
+    }
+
+    let device_id_clone = device_identifier.clone();
+    std::panic::set_hook(Box::new(move |panic_info| {
+        let thread_name = std::thread::current()
+            .name()
+            .unwrap_or("unnamed")
+            .to_string();
+        let location = panic_info.location().map_or("unknown".to_string(), |loc| {
+            format!("{}:{}:{}", loc.file(), loc.line(), loc.column())
+        });
+        let message = panic_info
+            .payload()
+            .downcast_ref::<&str>()
+            .unwrap_or(&"Box<dyn Any>")
+            .to_string();
+
+        let panic_message = format!(
+            "Device panicked in thread '{}' at {}: {}",
+            thread_name, location, message
+        );
+
+        // Send device panic info through channel
+        smol::block_on(async {
+            let _ = thread_panic_tx
+                .send((
+                    device_id_clone.clone(),
+                    anyhow::anyhow!("{}", panic_message),
+                ))
+                .await;
+        });
+
+        // Note: We don't call old_hook to avoid duplicate logging
+        // All logging is handled in the main thread when receiving panic details
+    }));
+}
@@ -1,14 +1,8 @@
-use lazy_static::lazy_static;
-
+use super::SerialDeviceNewParams;
 use crate::{
-    SerialDevice, SerialDeviceIdentification, machine_identification::DeviceIdentification,
-    serial::devices::laser::Laser,
+    machines::identification::DeviceIdentification,
+    serial::{SerialDevice, SerialDeviceIdentification},
 };
-
-#[cfg(feature = "mock-machine")]
-use crate::serial::devices::mock::MockSerialDevice;
-
-use crate::SerialDeviceNewParams;
 use anyhow::{Error, Result};
 use smol::lock::RwLock;
 use std::{any::TypeId, collections::HashMap, sync::Arc};
@@ -26,12 +20,6 @@ pub struct SerialDeviceRegistry {
    pub type_map: HashMap<TypeId, (SerialDeviceIdentification, SerialDeviceNewClosure)>,
 }

-impl Default for SerialDeviceRegistry {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
 impl SerialDeviceRegistry {
    pub fn new() -> Self {
        Self {
@@ -100,22 +88,3 @@ impl SerialDeviceRegistry {
        }
    }
 }
-
-lazy_static! {
-    pub static ref SERIAL_DEVICE_REGISTRY: SerialDeviceRegistry = {
-        let mut sdr = SerialDeviceRegistry::new();
-        sdr.register::<Laser>(SerialDeviceIdentification {
-            vendor_id: 0x0403,
-            product_id: 0x6001,
-        });
-
-        // Register MockSerialDevice when mock-machine feature is enabled
-        #[cfg(feature = "mock-machine")]
-        sdr.register::<MockSerialDevice>(SerialDeviceIdentification {
-            vendor_id: 0x0001, // VENDOR_QITECH
-            product_id: 0x0007, // MACHINE_MOCK
-        });
-
-        sdr
-    };
-}
@@ -7,70 +7,175 @@
 */

 use serialport::{SerialPortInfo, SerialPortType, UsbPortInfo};
-use std::collections::HashMap;
+use smol::{
+    channel::{Receiver, Sender, unbounded},
+    lock::RwLock,
+};
+use std::{collections::HashMap, sync::Arc};

-use super::SerialDeviceIdentification;
-/// Handles scanning and caching of connected USB serial devices.
-pub struct SerialDetection {}
+use crate::{
+    helpers::compare_lists::compare_lists, machines::identification::DeviceIdentification,
+};

-impl SerialDetection {
-    /// Returns all serial ports on the system (minus macOS "cu" noise).
-    fn get_ports() -> Vec<SerialPortInfo> {
-        match serialport::available_ports() {
-            Ok(ports) => ports
-                .into_iter()
-                .filter(|port| !port.port_name.contains("cu"))
-                .collect(),
-            Err(_) => Vec::new(),
+use super::{
+    SerialDevice, SerialDeviceIdentification, SerialDeviceNewParams, registry::SerialDeviceRegistry,
+};
+
+pub struct SerialDetection<'serialdeviceregistry> {
+    pub serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry,
+    pub ports: HashMap<
+        String,
+        (
+            UsbPortInfo,
+            DeviceIdentification,
+            Arc<RwLock<dyn SerialDevice>>,
+        ),
+    >,
+    pub device_removal_signal_rx: Receiver<(String, anyhow::Error)>,
+    pub device_removal_signal_tx: Sender<(String, anyhow::Error)>,
+}
+
+impl<'serialdeviceregistry> SerialDetection<'serialdeviceregistry> {
+    pub fn new(serial_device_registry: &'serialdeviceregistry SerialDeviceRegistry) -> Self {
+        let (device_removal_signal_tx, device_removal_signal_rx) =
+            unbounded::<(String, anyhow::Error)>();
+        SerialDetection {
+            serial_device_registry,
+            ports: HashMap::new(),
+            device_removal_signal_rx,
+            device_removal_signal_tx,
        }
    }

-    /// Extracts only USB serial devices from the port list.
-    fn extract_usb_serial_devices(port_list: Vec<SerialPortInfo>) -> HashMap<String, UsbPortInfo> {
-        let mut map = HashMap::new();
+    /*
+     *@return: Option::None if there are no available ports on device
+     *@return: Option::Some(Vec) with all available ports
+     *
+     *@description: detects all available ports and returns them as list
+     */
+    fn get_ports() -> Vec<SerialPortInfo> {
+        let all = match serialport::available_ports() {
+            Ok(ports) => ports,
+            Err(_) => return Vec::new(),
+        };
+
+        // exclude ports that contai "cu" in their name
+        all.into_iter()
+            .filter(|port| !port.port_name.contains("cu"))
+            .collect::<Vec<_>>()
+    }
+
+    /* @param: port_list -> list of available ports
+     *
+     * @return: Vec<(String, UsbPortInfo)> -> list of ports with their names and usb information
+     *
+     * @description: This function extracts the USB serial devices from the given list of ports.
+     */
+    fn extract_usb_serial_devices(
+        &self,
+        port_list: Vec<SerialPortInfo>,
+    ) -> Vec<(String, UsbPortInfo)> {
+        let mut usb_ports: Vec<(String, UsbPortInfo)> = Vec::new();

        for port in port_list {
-            if let SerialPortType::UsbPort(usb_info) = port.port_type {
-                map.insert(port.port_name, usb_info);
-            }
-        }
-        map
-    }
-
-    /// Scans for connected USB serial devices and updates the internal map.
-    /// Returns a clone of the map for quick access.
-    pub fn detect_devices() -> HashMap<String, UsbPortInfo> {
-        let ports = Self::get_ports();
-        let usb_devices = Self::extract_usb_serial_devices(ports);
-        usb_devices
-    }
-
-    pub fn device_port_exists(device_path: &str) -> bool {
-        let ports = Self::get_ports();
-        return ports.iter().any(|p| p.port_name == device_path);
-    }
-
-    pub fn device_id_exists(sdevid: SerialDeviceIdentification) -> bool {
-        let ports = Self::get_ports();
-        for port in ports {
-            if let SerialPortType::UsbPort(usb_info) = port.port_type {
-                if usb_info.vid == sdevid.vendor_id && usb_info.pid == sdevid.product_id {
-                    return true;
+            match &port.port_type {
+                SerialPortType::UsbPort(usb_info) => {
+                    usb_ports.push((port.port_name.to_string(), usb_info.clone()));
                }
-            }
+                _ => {}
+            };
        }
-        return false;
+
+        return usb_ports;
    }

-    pub fn get_path_by_id(
-        sdevid: SerialDeviceIdentification,
-        map: HashMap<String, UsbPortInfo>,
-    ) -> Option<String> {
-        for (port, usbport) in map.iter() {
-            if usbport.vid == sdevid.vendor_id && usbport.pid == sdevid.product_id {
-                return Some(port.clone());
+    pub async fn check_ports(&mut self) -> CheckPortsResult {
+        // get available ports
+        let ports = Self::get_ports();
+
+        // extract all ports that are usb ports
+        let usb_ports = self.extract_usb_serial_devices(ports);
+
+        let last_usb_ports = self
+            .ports
+            .iter()
+            .map(|last_usb_port| (last_usb_port.0.clone(), last_usb_port.1.0.clone()))
+            .collect::<Vec<_>>();
+
+        let usb_ports_diff = compare_lists(&last_usb_ports, &usb_ports);
+
+        let mut result = CheckPortsResult {
+            added: Vec::new(),
+            removed: Vec::new(),
+        };
+
+        // reamove ports
+        for removed in usb_ports_diff.removed {
+            if let Some((_, device_identification, _)) = self.ports.remove(&removed.0) {
+                result.removed.push(device_identification);
+            }
+
+            tracing::trace!("Removed port: {}", removed.0);
+        }
+
+        // add new ports
+        for added in usb_ports_diff.added {
+            // add the port to the list
+            let serial_device_identification = SerialDeviceIdentification {
+                vendor_id: added.1.vid,
+                product_id: added.1.pid,
+            };
+
+            let device_result = self.serial_device_registry.new_serial_device(
+                &SerialDeviceNewParams {
+                    path: added.0.clone(),
+                    device_thread_panic_tx: self.device_removal_signal_tx.clone(),
+                },
+                &serial_device_identification,
+            );
+
+            // only if created device driver sucessfully
+            if let Ok((device_identification, device)) = device_result {
+                // add the device to the ports list
+                self.ports.insert(
+                    added.0.clone(),
+                    (
+                        added.1.clone(),
+                        device_identification.clone(),
+                        device.clone(),
+                    ),
+                );
+
+                // add to result list
+                result.added.push((device_identification, device.clone()));
+
+                tracing::trace!("Added port: {}", added.0);
            }
        }
-        return None;
+
+        result
+    }
+
+    pub async fn check_remove_signals(&mut self) -> Vec<DeviceIdentification> {
+        let mut removed_signals: Vec<DeviceIdentification> = Vec::new();
+        match self.device_removal_signal_rx.try_recv() {
+            Ok((path, error)) => {
+                // remove the device when the tuple positon 1 equals signal
+                if let Some(info) = self.ports.get(&path.clone()) {
+                    removed_signals.push(info.1.clone());
+                };
+                self.ports.remove(&path);
+
+                tracing::trace!("Removed device: {:?}: {}", path, error);
+            }
+            Err(_) => {}
+        }
+        removed_signals
    }
 }
+
+#[derive(Debug)]
+pub struct CheckPortsResult {
+    pub added: Vec<(DeviceIdentification, Arc<RwLock<dyn SerialDevice>>)>,
+    pub removed: Vec<DeviceIdentification>,
+}
@@ -21,10 +21,6 @@ impl std::fmt::Debug for GenericEvent {
    }
 }

-pub trait BuildEvent: Serialize + Send + Sync + Clone {
-    fn build(&self) -> Event<Self>;
-}
-
 #[derive(Debug, Clone, Serialize)]
 pub struct Event<T>
 where
@@ -1,2 +1,3 @@
 pub mod event;
 pub mod namespace;
+pub mod namespace_id;
@@ -4,7 +4,7 @@ use socketioxide::extract::SocketRef;
 use std::{collections::HashMap, sync::Arc, time::Duration};
 use tracing::instrument;

-#[derive(Debug, Clone)]
+#[derive(Debug)]
 pub struct Namespace {
    pub sockets: Vec<SocketRef>,
    pub events: HashMap<String, Vec<Arc<GenericEvent>>>,
@@ -30,7 +30,7 @@ impl Namespace {
    #[instrument(skip_all)]
    pub fn subscribe(&mut self, socket: SocketRef) {
        // add the socket to the list
-        self.sockets.push(socket);
+        self.sockets.push(socket.clone());
    }

    /// Removes a socket from the namespace.
@@ -44,22 +44,6 @@ impl Namespace {
        self.sockets.retain(|s| s.id != socket.id);
    }

-    /// Disconnects all clients in the namespace.
-    ///
-    /// This will forcefully disconnect all sockets and clear the socket list.
-    #[instrument(skip_all)]
-    pub fn disconnect_all(&mut self) {
-        tracing::info!("Disconnecting {} sockets in namespace", self.sockets.len());
-
-        // Disconnect each socket
-        for socket in &self.sockets {
-            let _ = socket.clone().disconnect(); // Ignore errors if socket is already disconnected
-        }
-
-        // Clear the socket list
-        self.sockets.clear();
-    }
-
    /// Re-emits cached events to a specific socket.
    ///
    /// This is typically used when a socket reconnects or joins an existing namespace
@@ -81,7 +65,7 @@ impl Namespace {
        for (_event_name, events) in event_groups {
            for event in events {
                // Send to global queue instead of per-socket queue
-                self.send_to_queue(&socket, event, "reemit");
+                self.send_to_queue(&socket, &event, "reemit");
            }
        }
    }
@@ -97,10 +81,13 @@ impl Namespace {
    fn cache(
        &mut self,
        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
+        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>,
    ) {
-        let cached_events_for_key = self.events.entry(event.name.clone()).or_default();
-        buffer_fn(cached_events_for_key, &event);
+        let mut cached_events_for_key = self
+            .events
+            .entry(event.name.clone())
+            .or_insert_with(Vec::new);
+        buffer_fn(&mut cached_events_for_key, &event);
    }

    /// Emits an event to all sockets in the namespace and caches it.
@@ -114,10 +101,11 @@ impl Namespace {
    pub fn emit(
        &mut self,
        event: Arc<GenericEvent>,
-        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>,
+        buffer_fn: &Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>,
    ) {
        // cache the event
-        self.cache(event.clone(), buffer_fn);
+        self.cache(event.clone(), &buffer_fn);
+
        // emit the event - inlined from emit function
        // Send to global queue for each socket in the namespace
        for socket in self.sockets.clone() {
@@ -165,12 +153,6 @@ impl Namespace {
    }
 }

-impl Drop for Namespace {
-    fn drop(&mut self) {
-        //self.disconnect_all();
-    }
-}
-
 pub trait NamespaceBufferCacheKey {
    fn to_key(&self) -> String;
 }
@@ -187,9 +169,9 @@ pub trait CacheableEvents<Events> {
    fn event_cache_fn(&self) -> CacheFn;
 }

-pub type CacheFn = Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>)>;
+pub type CacheFn = Box<dyn Fn(&mut Vec<Arc<GenericEvent>>, &Arc<GenericEvent>) -> ()>;

-/// [`BufferFn`] that stores the last n events
+/// [BufferFn] that stores the last n events
 pub fn cache_n_events(n: usize) -> CacheFn {
    Box::new(move |events, event| {
        if events.len() >= n {
@@ -199,31 +181,12 @@ pub fn cache_n_events(n: usize) -> CacheFn {
    })
 }

-/// [`BufferFn`] that stores only one event
+/// [BufferFn] that stores only one event
 pub fn cache_one_event() -> CacheFn {
    cache_n_events(1)
 }

-/// [`BufferFn`] that stores first and last event
-///
-/// The primary use case of this function is to cache both the default state of a machine, which should be emitted first,
-/// and the last event, which is the most recent state of the machine.
-pub fn cache_first_and_last_event() -> CacheFn {
-    Box::new(move |events, event| {
-        // if the events length 0 or 1, we just push the event
-        if events.is_empty() || events.len() == 1 {
-            events.push(event.clone());
-            return;
-        }
-        // if the event length is 2 we remove the last event and append a new one
-        if events.len() == 2 {
-            events.remove(1);
-            events.push(event.clone());
-        }
-    })
-}
-
-/// [`BufferFn`] that stores events for a certain duration
+/// [BufferFn] that stores events for a certain duration
 pub fn cache_duration(duration: Duration, bucket_size: Duration) -> CacheFn {
    Box::new(move |events, event| {
        // Use event.ts instead of system time
@@ -3,7 +3,7 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
 use std::fmt;
 use std::str::FromStr;

-use machines::machine_identification::{MachineIdentification, MachineIdentificationUnique};
+use crate::machines::identification::{MachineIdentification, MachineIdentificationUnique};

 #[derive(Debug, PartialEq, Eq, Hash, Clone)]
 pub enum NamespaceId {
@@ -17,8 +17,8 @@ impl Serialize for NamespaceId {
        S: Serializer,
    {
        match self {
-            Self::Main => serializer.serialize_str("/main"),
-            Self::Machine(id) => {
+            NamespaceId::Main => serializer.serialize_str("/main"),
+            NamespaceId::Machine(id) => {
                let path = format!(
                    "/machine/{}/{}/{}",
                    id.machine_identification.vendor, id.machine_identification.machine, id.serial
@@ -36,7 +36,7 @@ impl<'de> Deserialize<'de> for NamespaceId {
    {
        struct NamespaceIdVisitor;

-        impl Visitor<'_> for NamespaceIdVisitor {
+        impl<'de> Visitor<'de> for NamespaceIdVisitor {
            type Value = NamespaceId;

            fn expecting(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
@@ -85,7 +85,7 @@ impl FromStr for NamespaceId {

    fn from_str(s: &str) -> Result<Self, Self::Err> {
        if s == "/main" {
-            return Ok(Self::Main);
+            return Ok(NamespaceId::Main);
        }

        if let Some(machine_path) = s.strip_prefix("/machine/") {
@@ -101,7 +101,7 @@ impl FromStr for NamespaceId {
                    .parse::<u16>()
                    .map_err(|_| "Invalid serial id".to_string())?;

-                return Ok(Self::Machine(MachineIdentificationUnique {
+                return Ok(NamespaceId::Machine(MachineIdentificationUnique {
                    machine_identification: MachineIdentification { vendor, machine },
                    serial,
                }));
@@ -116,8 +116,8 @@ impl FromStr for NamespaceId {
 impl fmt::Display for NamespaceId {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        match self {
-            Self::Main => write!(f, "/main"),
-            Self::Machine(id) => {
+            NamespaceId::Main => write!(f, "/main"),
+            NamespaceId::Machine(id) => {
                write!(
                    f,
                    "/machine/{}/{}/{}",
@@ -1,27 +0,0 @@
-use crate::transmission::Transmission;
-
-#[derive(Debug, Clone)]
-pub struct FixedTransmission {
-    ratio: f64,
-}
-
-impl Transmission for FixedTransmission {
-    fn get_ratio(&self) -> f64 {
-        self.ratio
-    }
-}
-
-impl FixedTransmission {
-    /// Creates a new FixedTransmission with the specified ratio.
-    ///
-    /// # Arguments
-    ///
-    /// * `ratio` - The transmission ratio (output over input).
-    ///
-    /// # Returns
-    ///
-    /// A new instance of FixedTransmission.
-    pub const fn new(ratio: f64) -> Self {
-        Self { ratio }
-    }
-}
@@ -1,95 +0,0 @@
-use units::{
-    angle::radian,
-    angular_velocity::radian_per_second,
-    f64::{Angle, AngularVelocity, Length, Velocity},
-    length::meter,
-    velocity::meter_per_second,
-};
-
-pub mod fixed;
-
-/// A trait representing a mechanical transmission system that converts input to output
-/// with a specific gear ratio.
-///
-/// This trait provides methods for working with transmission ratios and converting
-/// between input and output values based on the transmission's gear ratio.
-pub trait Transmission {
-    /// Returns the transmission ratio of this transmission system.
-    ///
-    /// The ratio represents the relationship between input and output speeds/torques.
-    /// A ratio greater than 1.0 indicates speed reduction (torque multiplication),
-    /// while a ratio less than 1.0 indicates speed increase (torque reduction).
-    ///
-    /// # Returns
-    ///
-    /// The transmission ratio as a floating-point number.
-    fn get_ratio(&self) -> f64;
-
-    /// Converts an input value to the corresponding output value using the transmission ratio.
-    ///
-    /// This method multiplies the input by the transmission ratio to calculate the output.
-    /// Typically used for converting input speed to output speed in a transmission system.
-    ///
-    /// # Arguments
-    ///
-    /// * `input` - The input value to be converted
-    ///
-    /// # Returns
-    ///
-    /// The output value after applying the transmission ratio.
-    fn calculate_output(&self, input: f64) -> f64 {
-        input * self.get_ratio()
-    }
-
-    /// Converts an output value to the corresponding input value using the transmission ratio.
-    ///
-    /// This method divides the output by the transmission ratio to calculate the required input.
-    /// Typically used for determining what input is needed to achieve a desired output.
-    ///
-    /// # Arguments
-    ///
-    /// * `output` - The output value to be converted back to input
-    ///
-    /// # Returns
-    ///
-    /// The input value required to produce the given output.
-    fn calculate_input(&self, output: f64) -> f64 {
-        output / self.get_ratio()
-    }
-
-    fn calculate_angular_output(&self, input: Angle) -> Angle {
-        Angle::new::<radian>(self.calculate_output(input.get::<radian>()))
-    }
-
-    fn calculate_angular_input(&self, output: Angle) -> Angle {
-        Angle::new::<radian>(self.calculate_input(output.get::<radian>()))
-    }
-
-    fn calculate_angular_velocity_output(&self, input: AngularVelocity) -> AngularVelocity {
-        AngularVelocity::new::<radian_per_second>(
-            self.calculate_output(input.get::<radian_per_second>()),
-        )
-    }
-
-    fn calculate_angular_velocity_input(&self, output: AngularVelocity) -> AngularVelocity {
-        AngularVelocity::new::<radian_per_second>(
-            self.calculate_input(output.get::<radian_per_second>()),
-        )
-    }
-
-    fn calculate_linear_output(&self, input: Length) -> Length {
-        Length::new::<meter>(self.calculate_output(input.get::<meter>()))
-    }
-
-    fn calculate_linear_input(&self, output: Length) -> Length {
-        Length::new::<meter>(self.calculate_input(output.get::<meter>()))
-    }
-
-    fn calculate_linear_velocity_output(&self, input: Velocity) -> Velocity {
-        Velocity::new::<meter_per_second>(self.calculate_output(input.get::<meter_per_second>()))
-    }
-
-    fn calculate_linear_velocity_input(&self, output: Velocity) -> Velocity {
-        Velocity::new::<meter_per_second>(self.calculate_input(output.get::<meter_per_second>()))
-    }
-}
@@ -0,0 +1,7 @@
+unit! {
+    system: uom::si;
+    quantity: uom::si::acceleration;
+
+    @meter_per_minute_per_second: 0.016_666_666_666_666_67; "m/min/s", "meters per minute per second",
+        "meters per minute per second";
+}
@@ -0,0 +1,7 @@
+unit! {
+    system: uom::si;
+    quantity: uom::si::angular_acceleration;
+
+    @revolution_per_minute_per_second: 0.104_719_755_119_659_77; "rev/min/s", "revolutions per minute per second",
+        "revolutions per minute per second";
+}
@@ -0,0 +1,7 @@
+unit! {
+    system: uom::si;
+    quantity: uom::si::angular_jerk;
+
+    @revolution_per_minute_per_second_squared: 0.104_719_755_119_659_77; "rev/min/s²", "revolution per minute per second squared",
+        "revolution per minute per second squared";
+}
@@ -0,0 +1,7 @@
+unit! {
+    system: uom::si;
+    quantity: uom::si::jerk;
+
+    @meter_per_minute_per_second_squared: 0.016_666_666_666_666_666_67; "m/min/s²", "meters per minute per second squared",
+        "meters per minute per second squared";
+}
@@ -0,0 +1,5 @@
+pub mod acceleration;
+pub mod angular_acceleration;
+pub mod angular_jerk;
+pub mod jerk;
+pub mod velocity;
@@ -0,0 +1,7 @@
+unit! {
+    system: uom::si;
+    quantity: uom::si::velocity;
+
+    @meter_per_minute: 0.016_666_666_666_666_67; "m/min", "meters per minute",
+        "meters per minute";
+}
@@ -1,208 +0,0 @@
-use anyhow::Error;
-use std::collections::HashMap;
-use tokio::sync::broadcast;
-
-/// Video stream manager that handles multiple video streams per machine with true broadcasting
-/// Uses tokio broadcast channels to ensure all subscribers receive all messages without stealing
-#[derive(Debug)]
-pub struct VideoStreamManager {
-    /// Each stream has its own broadcast transmitter and template receiver
-    streams: HashMap<String, (broadcast::Sender<Vec<u8>>, broadcast::Receiver<Vec<u8>>)>,
-}
-
-impl VideoStreamManager {
-    pub fn new() -> Self {
-        Self {
-            streams: HashMap::new(),
-        }
-    }
-
-    /// Send a frame to all subscribers of a stream
-    /// Returns Ok if the frame was sent, Err if the stream doesn't exist
-    pub fn send_frame(&self, stream_id: &str, frame: Vec<u8>) -> Result<(), Error> {
-        if let Some((tx, _rx)) = self.streams.get(stream_id) {
-            match tx.send(frame) {
-                Ok(_) => Ok(()),
-                Err(_) => Ok(()), // No receivers, but that's not an error
-            }
-        } else {
-            Err(anyhow::anyhow!("Stream '{}' not found", stream_id))
-        }
-    }
-
-    /// Register a new video stream with the given ID
-    pub fn add_stream(&mut self, stream_id: String) {
-        let (tx, rx) = broadcast::channel::<Vec<u8>>(256); // 256 frame buffer capacity
-        self.streams.insert(stream_id, (tx, rx));
-    }
-
-    /// Get list of available stream IDs
-    pub fn get_streams(&self) -> Vec<String> {
-        self.streams.keys().cloned().collect()
-    }
-
-    /// Check if a stream exists
-    pub fn has_stream(&self, stream_id: &str) -> bool {
-        self.streams.contains_key(stream_id)
-    }
-
-    /// Remove a stream and all its subscribers
-    pub fn remove_stream(&mut self, stream_id: &str) -> bool {
-        self.streams.remove(stream_id).is_some()
-    }
-
-    /// Subscribe to a video stream and get a receiver
-    /// Returns the receiver for the new subscription
-    pub fn subscribe_to_stream(&self, stream_id: &str) -> Option<broadcast::Receiver<Vec<u8>>> {
-        self.streams
-            .get(stream_id)
-            .map(|(_tx, rx)| rx.resubscribe()) // Resubscribe to create a new independent receiver
-    }
-
-    /// Get subscriber count for a stream
-    pub fn get_subscriber_count(&self, stream_id: &str) -> usize {
-        self.streams
-            .get(stream_id)
-            .map_or(0, |(tx, _rx)| tx.receiver_count())
-    }
-
-    /// Get a stream transmitter for sending frames (used by machines to send video)
-    /// Returns None if the stream doesn't exist
-    pub fn get_sender(&self, stream_id: &str) -> Option<broadcast::Sender<Vec<u8>>> {
-        self.streams.get(stream_id).map(|(tx, _rx)| tx.clone())
-    }
-}
-
-impl Default for VideoStreamManager {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[tokio::test]
-    async fn test_video_stream_manager() {
-        let mut manager = VideoStreamManager::new();
-
-        // Register streams
-        manager.register_stream("camera1".to_string());
-        manager.register_stream("camera2".to_string());
-
-        assert_eq!(manager.get_stream_ids().len(), 2);
-        assert!(manager.has_stream("camera1"));
-        assert!(manager.has_stream("camera2"));
-        assert!(!manager.has_stream("camera3"));
-
-        // Subscribe to streams
-        let mut rx1 = manager.subscribe_to_stream("camera1").unwrap();
-        let mut rx2 = manager.subscribe_to_stream("camera1").unwrap();
-        let mut rx3 = manager.subscribe_to_stream("camera2").unwrap();
-
-        assert_eq!(manager.get_subscriber_count("camera1"), 3); // Original + 2 clones
-        assert_eq!(manager.get_subscriber_count("camera2"), 2); // Original + 1 clone
-        assert_eq!(manager.get_subscriber_count("nonexistent"), 0);
-
-        // Send frames
-        let frame1 = vec![1, 2, 3, 4];
-        let frame2 = vec![5, 6, 7, 8];
-
-        assert!(manager.send_single_frame("camera1", frame1.clone()));
-        assert!(manager.send_single_frame("camera2", frame2.clone()));
-        assert!(!manager.send_single_frame("nonexistent", vec![]));
-
-        // Both camera1 subscribers should receive the frame
-        assert_eq!(rx1.recv().await.unwrap(), frame1);
-        assert_eq!(rx2.recv().await.unwrap(), frame1);
-
-        // Camera2 subscriber should receive its frame
-        assert_eq!(rx3.recv().await.unwrap(), frame2);
-    }
-
-    #[tokio::test]
-    async fn test_video_frame_broadcasting() {
-        let mut manager = VideoStreamManager::new();
-        manager.register_stream("main_camera".to_string());
-
-        // Multiple clients subscribe to the same camera
-        let mut rx1 = manager.subscribe_to_stream("main_camera").unwrap();
-        let mut rx2 = manager.subscribe_to_stream("main_camera").unwrap();
-        let mut rx3 = manager.subscribe_to_stream("main_camera").unwrap();
-
-        // Simulate video frames
-        let frames = vec![
-            vec![0xFF, 0xD8, 0xFF, 0xE0], // JPEG header
-            vec![0x00, 0x01, 0x02, 0x03], // Frame 1
-            vec![0x04, 0x05, 0x06, 0x07], // Frame 2
-        ];
-
-        for frame in &frames {
-            assert!(manager.send_single_frame("main_camera", frame.clone()));
-        }
-
-        // All clients should receive all frames in order
-        for frame in &frames {
-            assert_eq!(rx1.recv().await.unwrap(), *frame);
-            assert_eq!(rx2.recv().await.unwrap(), *frame);
-            assert_eq!(rx3.recv().await.unwrap(), *frame);
-        }
-    }
-
-    #[test]
-    fn test_stream_management() {
-        let mut manager = VideoStreamManager::new();
-
-        // Initially no streams
-        assert_eq!(manager.get_stream_ids().len(), 0);
-
-        // Add streams
-        manager.register_stream("front_camera".to_string());
-        manager.register_stream("rear_camera".to_string());
-        manager.register_stream("side_camera".to_string());
-
-        let mut stream_ids = manager.get_stream_ids();
-        stream_ids.sort(); // Sort for consistent testing
-        assert_eq!(
-            stream_ids,
-            vec!["front_camera", "rear_camera", "side_camera"]
-        );
-
-        // Remove a stream
-        assert!(manager.remove_stream("rear_camera"));
-        assert!(!manager.remove_stream("rear_camera")); // Already removed
-        assert!(!manager.has_stream("rear_camera"));
-
-        assert_eq!(manager.get_stream_ids().len(), 2);
-    }
-
-    #[tokio::test]
-    async fn test_send_frame_results() {
-        let mut manager = VideoStreamManager::new();
-        manager.register_stream("test_camera".to_string());
-
-        // One initial receiver (the original one created in register_stream)
-        let result = manager.send_frame("test_camera", vec![1, 2, 3]).unwrap();
-        assert_eq!(result, 1); // Number of subscribers
-
-        // Add subscribers by cloning the receiver
-        let _rx1 = manager.subscribe_to_stream("test_camera").unwrap();
-        let _rx2 = manager.subscribe_to_stream("test_camera").unwrap();
-
-        // Send frame to multiple subscribers (original + 2 clones = 3 total)
-        let result = manager.send_frame("test_camera", vec![4, 5, 6]).unwrap();
-        assert_eq!(result, 3); // Number of subscribers
-
-        // Try sending to non-existent stream
-        let result = manager.send_frame("nonexistent", vec![7, 8, 9]);
-        assert!(result.is_err());
-        assert_eq!(result.unwrap_err(), "Stream 'nonexistent' not found");
-    }
-
-    #[test]
-    fn test_default_video_stream_manager() {
-        let manager = VideoStreamManager::default();
-        assert_eq!(manager.get_stream_ids().len(), 0);
-    }
-}
@@ -1,145 +0,0 @@
-# How can I add a new Machine?
-
-Adding a new machine follows a common structure in `server/machines/`.
-
-
-
-# TLDR
-
-Summary
-
-When adding a new machine:
-
- Create Folder server/machines/YOUR_MACHINE_NAME/.
- Add the 4 files (mod.rs, new.rs, act.rs, api.rs).
- Register it in machines/mod.rs with a unique constant.
- mod.rs: define the struct + emit functions.
- new.rs: assemble devices/controllers into the machine.
- act.rs: implement the machine loop (MachineAct).
- api.rs: define request (mutations) and response (events) types.
-
-Tip: Start simple (copy MockMachine) and grow complexity as needed (add EtherCAT devices, controllers, etc.).
-
---
-
-## 1. Create the folder
-
-Create a new directory:
-server/machines/YOUR_MACHINE_NAME
-
-At a minimum, this folder needs the following files:
-
- `mod.rs`
- `new.rs`
- `act.rs`
- `api.rs`
-
---
-
-## 2. Register the module
-
-Add your machine to `server/machines/mod.rs`:
-
-```rust
-// mod.rs
-pub mod buffer1;
-pub mod extruder1;
-pub mod laser;
-pub mod mock;
-pub mod registry;
-pub mod winder2;
-pub mod YOUR_MACHINE;
-
-pub const VENDOR_QITECH: u16 = 0x0001;
-pub const MACHINE_WINDER_V1: u16 = 0x0002;
-pub const MACHINE_EXTRUDER_V1: u16 = 0x0004;
-pub const MACHINE_LASER_V1: u16 = 0x0006;
-pub const MACHINE_MOCK: u16 = 0x0007;
-pub const MACHINE_BUFFER_V1: u16 = 0x0008;
-pub const YOUR_MACHINE_V1: u16 = 0xffff; // pick a unique ID to avoid collisions also DO NOT touch any already defined ids!!
-```
-
-## 3. mod.rs
-
-This file defines your machine struct and the required event emitters.
-
-Look at MockMachine’s mod.rs for the simplest possible version.
-
-At a minimum, you need:
- emit_state
- emit_live_values
- A machine struct for state(e.g. MockMachine, Extruder, Laser, Winder, …)
-
-More complex machines (e.g. Extruder, Winder) encapsulate controllers that in turn manage devices like EtherCAT terminals.
-
-## 4 new.rs
-
-This file implements MachineNewTrait for your machine.
-Here you assemble your machine from its parts — devices, controllers, and any state.
-
-Minimal example: see MockMachine → basically no devices, just returns a struct.
-
-Medium complexity: see Laser → wraps a single serial USB device.
-
-High complexity: see Extruder → configures multiple EtherCAT devices inside controllers.
-
-Think of new.rs as the factory:
-This is the place to declare which devices make up your machine and how they’re configured.
-
-## 5. act.rs
-
-This file implements the machine control loop using MachineAct.
-The act() method is called repeatedly by the control runtime.
-
-```rs
-impl MachineAct for YourMachine {
-    fn act(&mut self, _now_ts: Instant) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
-        Box::pin(async move {
-            let now = Instant::now();
-
-            // Update state, e.g. step a controller
-            self.some_controller.update();
-
-            // Emit live values ~30 Hz if machine is in Running mode
-            if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
-                self.maybe_emit_state_event();
-                self.emit_live_values();
-                self.last_measurement_emit = now;
-            }
-        })
-    }
-}
-```
-
-## 6. api.rs
-
-Defines the frontend-facing API for your machine:
-
-Mutations → requests that the machine accepts
-(e.g. start/stop commands, setpoints, configuration updates).
-
-Events → responses emitted to the frontend
-(e.g. live sensor data, alarms, machine state changes).
-
-Look at MockMachine’s api.rs for a minimal version.
-
-```rs
-/// Mutations are API requests to control the machine
-#[derive(Debug, Clone, serde::Deserialize)]
-#[serde(tag = "type", rename_all = "snake_case")]
-pub enum YourMachineMutation {
-    Start,
-    Stop,
-    SetSpeed { rpm: f64 },
-}
-
-/// Events are responses sent to the frontend
-#[derive(Debug, Clone, serde::Serialize)]
-#[serde(tag = "type", rename_all = "snake_case")]
-pub enum YourMachineEvent {
-    StateChanged { state: String },
-    LiveValues { rpm: f64, torque: f64 },
-}
-
-```
-
@@ -1,94 +0,0 @@
-# Code Style
-
-# General Code styling
-
-Try to adhere to the rust style guide:
-https://doc.rust-lang.org/nightly/style-guide/
-
-# Beckhoff terminals and Machines
-
-For Beckhoff terminals you should first implement the basic functionality, then an Interpreter of the device/data is built on top.
-A good example of how to do this is by looking at the following code:
-el3021.rs , AnalogInputDevice
-
-El3021 implements a so called AnalogInputDevice, which acts like an interface.
-This allows us to use AnalogInputDevice instead of having to always specify which device should be used.
-In Essence any Device that implements AnalogInputDevice can be used.
-
-AnalogInputDevice is then used for creating an AnalogInput, which is plug and play for machines.
-
-Then a further layer of Abstraction is used on top,
-where the data is interpreted and incorporated into a sort of control loop for certain functions, for example:
-
-```rust
-// ScrewSpeedController controlls the speed (frequency) and direction of the motor
-// AnalogInput is used to collect measurements from the pressure sensor.
-// screw_speed_controller.rs
-#[derive(Debug)]
-pub struct ScrewSpeedController {
-    pub pid: ClampingTimeagnosticPidController,
-    pub target_pressure: Pressure,
-    pub target_rpm: AngularVelocity,
-    pub inverter: MitsubishiCS80,
-    pressure_sensor: AnalogInput,
-    last_update: Instant,
-    uses_rpm: bool,
-    forward_rotation: bool,
-    transmission_converter: TransmissionConverter,
-    frequency: Frequency,
-    maximum_frequency: Frequency,
-    minimum_frequency: Frequency,
-    motor_on: bool,
-    nozzle_pressure_limit: Pressure,
-    nozzle_pressure_limit_enabled: bool,
-}
-
-// Under the hood for ExtruderV2 a El3021 is used:
-// (from new.rs of extruder)
-let pressure_sensor = AnalogInput::new(el3021, EL3021Port::AI1);
-
-// But the extruder does not directly use the AnalogInput, instead the logic is decoupled in the screw_speed_controller:
-let mut extruder: ExtruderV2 = Self {
-    namespace: ExtruderV2Namespace::new(params.socket_queue_tx.clone()),
-    last_measurement_emit: Instant::now(),
-    mode: ExtruderV2Mode::Standby,
-    temperature_controller_front: temperature_controller_front,
-    temperature_controller_middle: temperature_controller_middle,
-    temperature_controller_back: temperature_controller_back,
-    temperature_controller_nozzle: temperature_controller_nozzle,
-    screw_speed_controller: screw_speed_controller,
-    emitted_default_state: false,
-};
-
-// Then in act.rs
-// The extruder simply calls the update function of the screw_speed_controller,
-// which contains "all" of the logic needed to properly drive the motor
-self.screw_speed_controller.update(now_ts, true);
-
-
-```
-
-This is desired behaviour for all implemented devices, the machines should stay as modular as possible.
-
-# Representing physical Units (Volt,Ampere,Hz,RPM etc)
-
-To represent physical units like voltage ampere etc... we use uom (units of measurement), which acts as a wrapper for units and supplies all conversions between certain units.
-For example:
-
-```rust
-// Lets say a device measures voltage, you just got the raw value
-let volts : ElectricPotential = ElectricPotential::new::<volt>(raw_value_here);
-// Then you can do this to get milli_volts
-// In api responses we always use the RAW float value (64bit):
-let milli_volts : f64 = volts.get::<millivolt>();
-```
-
-# General Advice
-
- Try to avoid duplicate code (DRY principle)
- Try to avoid lifetimes if at all possible
- Avoid excessive abstractions
- Avoid async code unless it is required
- Avoid taking Ownership of values, instead borrow the value
- When implementing a Trait for a struct, do it in the same file as the struct definition
- Split up large impl blocks into smaller impl blocks
@@ -1,84 +0,0 @@
-# Environment Setup
-
-Working on this repository requires you to use cargo and npm. In the following document the installation process will be shown
-
-## Ubuntu/Debian Installation
-
-```bash
-    # Just press enter when prompted
-    curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
-    apt install npm
-    apt install nodejs
-    # assuming you dont have git already, Git setup not included in here
-    apt install git
-    git clone git@github.com:qitechgmbh/control.git
-    cd control
-    cd electron
-    npm install
-```
-
-# Running Backend and Frontend Linux
-
-## Backend
-
-To Compile backend code and run it on Linux:
-
-```bash
-./cargo_run_linux.sh
-```
-
-The script sets capabilities on the compiled binary like raw socket access.
-Here it is required that you are connected to atleast one machine that is communicated with over ethercat or usb/serial.
-The Most minimal working setup would be to connect over ethernet to an ek1100 beckhoff terminal.
-
-## Mock-Machine
-
-The Mock-Machine can be used to test code that does not require an actual machine connection.
-Like Frontend Code for example.
-
-Mock machines can be used if the compile feature mock-machine is enabled.
-
-```bash
-# in root git folder
-./cargo_run_linux.sh mock-machine
-```
-
-## Frontend
-
-To run the Frontend Code:
-
-```bash
-# need to be in the electron folder and an additional terminal
-cd electron
-npm run start
-```
-
-# Contributing
-
-Generally you contribute to the codebase by:
-
-1. Opening or Choosing an existing issue (Bug,Feature,Task etc)
-2. Work on it locally
-3. Commit your changes locally
-4. Before pushing changes, if there were changes on the master branch, rebase your branch like so:
-
-```bash
-git fetch
-git rebase origin/master
-```
-
-5. Push changes
-
-```bash
-# IF you needed to rebase
-git push --force-with-lease
-# ELSE you just push
-git push
-```
-
-6. Open a Pull Request on Github and link the issue by writing fix #issue_number, after the pull request is merged into master the branch is closed automatically
-7. Request a Review and hope for the best :)
-
-# Recommended Editor Setup
-
-We recommend you to use an Editor with rust-analyzer support like VSCode to speed up development and detect errors before compiling.
@@ -1,128 +0,0 @@
-# Performance/Stability Tweaks 
-## EtherCrab Config
-We set ethercrab to default settings for everything except for RetryBehaviour, so that one unlikely failure doesnt destroy the EtherCAT network.
-
-```rust
-    let maindevice = MainDevice::new(
-        pdu,
-        Timeouts {
-            // Default 5000ms
-            state_transition: Duration::from_millis(5000),
-            // Default 30_000us
-            pdu: Duration::from_micros(30_000),
-            // Default 10ms
-            eeprom: Duration::from_millis(10),
-            // Default 0ms
-            wait_loop_delay: Duration::from_millis(0),
-            // Default 100ms
-            mailbox_echo: Duration::from_millis(100),
-            // Default 1000ms
-            mailbox_response: Duration::from_millis(1000),
-        },
-        MainDeviceConfig {
-            // Default RetryBehaviour::None
-            retry_behaviour: RetryBehaviour::Count(5),
-            // Default 10_000
-            dc_static_sync_iterations: 10_000,
-        },
-    );
-
-```
-wait_loop_delay CAN in theory also decrease CPU usage if set exactly as the loop_delay we set, however this setting has caused us some issues, so we just leave it as is.
-
-## Realtime Kernel
-In our nixOs Config we use the latest realtime kernel and isolate TWO cores out of the Four available for the machines we use.
-
-```nix
- #From configuration.nix
- boot.loader.efi.canTouchEfiVariables = true;
- boot.kernelPackages = pkgs.linuxPackages-rt_latest;
- boot.kernelModules = [ "i915" ];
-```
-
-Notice how we hardcode the intel gpu kernel module. This is because only the GPU driver gets blacklisted for some reason. By specifying it manually it loads like before.
-
-One Core is used for the EtherCrab TXRX Thread and one is used for the machine Thread. 
-```
-    "isolcpus=2,3" # Isolate cpus 2 and 3 from scheduler for better latency, 2 runs ethercatthread and 3 runs server control-loop
-    "nohz_full=2,3" # In this mode, the periodic scheduler tick is stopped when only one task is running, reducing kernel interruptions on those CPUs.
-    "rcu_nocbs=2,3" # Moves RCU (Read-Copy Update) callback processing away from CPUs 2 and 3.
-```
-
-Essentially we completely disable acces from the operating system to these two cpus, which saves scheduler overhead, which would introduce noticable latency.
-Its not entirely clear yet if what we did here is overkill. Maybe we could use only one core and get away with that?
-Processor load normally hovers around 18% for one of the cores and like 9% for the other.
-
-We also have some minor cpu tweaks in configuration.nix
-```
-    # Graphical
-    "logo.nologo" # Remove kernel logo during boot
-
-    # Performance
-
-    # Specific Vulnerabilities Addressed by Mitigations:
-    # - Spectre variants (V1, V2, V4, SWAPGS, SpectreRSB, etc.)
-    # - Meltdown (Rogue Data Cache Load)
-    # - Foreshadow/L1TF (L1 Terminal Fault)
-    # - Microarchitectural Data Sampling (MDS, RIDL, Fallout, ZombieLoad)
-    # - SRBDS (Special Register Buffer Data Sampling)
-    # - TSX Asynchronous Abort (TAA)
-    # - iTLB Multihit
-    # - And others as they're discovered and mitigated
-    #
-    # With mitigations=off
-    # - PROS: Maximum performance, equivalent to pre-2018 behavior
-    # - CONS: Vulnerable to Spectre, Meltdown, Foreshadow, ZombieLoad, etc.
-    #         Should ONLY be used in completely trusted environments
-    # - Improves performance by 7-43%
-    "mitigation=off"
-    "intel_pstate=performance"    # Intel CPU-specific performance mode (if applicable)
-
-    # Memory Management
-    "transparent_hugepage=always" # Use larger memory pages for memory intense applications
-    "nmi_watchdog=0"              # Disable NMI watchdog for reduced CPU overhead and realtime execution
-
-    # High-throughput ethernet parameters
-    "pcie_aspm=off"         # Disable PCIe power management for NICs
-    "intel_iommu=off"       # Disable IOMMU (performance gain)
-
-    # Reliability
-    "panic=10"              # Auto-reboot 10 seconds after kernel panic
-    "oops=panic"            # Treat kernel oops as panic for auto-recovery
-    "usbcore.autosuspend=-1"     # Possibly fixes dre disconnect issue?
-```
-
-We should check if its really required to turn mitigations off as well.
-
-## Rust Code Optimizations
-
-In General we try to avoid memory allocations in our loop as much as possible, as it is not deterministic
-
-One problem we found, is that due to the realtime kernel our ethernet driver caused us quite large spikes in our tx_rx cycle time for EtherCAT.
-These spikes happen when CPU Load is very high on the two usable cores, causing the interrupt handler for Ethernet to stall.
-
-Which is why we reassign the interrupt handler on startup to the same core that the EtherCatTxRx Thread runs on:
-
-```rust
-#[cfg(target_os = "linux")]
-match set_irq_affinity(&interface, 3) {
-      Ok(_) => tracing::info!("ethernet interrupt handler now runs on cpu:{}", 3),
-      Err(e) => tracing::error!("set_irq_affinity failed: {:?}", e),
-}
-// Set core affinity to 4th core
-let _ = set_core_affinity(3);
-
-// Set the thread to real-time priority
-let _ = set_realtime_priority();
-```
-This means that the Interrupt Handler ALWAYS has enough ressources to cope with our demand for realtime communication with EtherCAT
-
-
-One Problem we have at the moment (we think) is the locking and async code blocking our server loop. 
-Note that this doesnt affect the EtherCAT communication at all.
-
-## Electron Optimizations (Not Yet Implemented)
-
-Currently we are struggling with the fact, that apparently Electron doesnt really have good support for HW acceleration on Linux.
-Electron runs with the software-renderer, which is VERY slow compared to a gpu. 
-This would eliminate the weird stuttering seen on Graphs and make them run buttery smooth, while also alleviating load off of the CPU.
@@ -1,166 +0,0 @@
-# Presets
-
-To allow the user to save the current configuration of a machine, they can create a preset in the presets page. Presets are presited in electron's local storage.
-
-Presets are all handled by the `PresetsPage`. To use the `PresetsPage` for a single machine, one must implement the following.
-
-Create a zod schema for the data, the presets contain.
- ```tsx
-const mock1PresetDataSchema = z
-  .object({
-    frequency1: z.number(),
-    frequency2: z.number(),
-    frequency3: z.number(),
-  })
-  .partial();
-
-type Mock1 = typeof mock1PresetDataSchema;
-```
-Here, intensionally, `Mock1` is the schema type itself. It can be used as a type argument everything that uses presets.
-
-Next, create a map containing all schema versions currently supported (the new schema, to be precise).
-```tsx
-const schemas = new Map([[1, mock1PresetDataSchema]]);
-```
-New, the schema will be used to parse version `1`. To create new versions, see migrations below.
-
-One also needs to define a table, how the preset data should be shown to the user.
-```tsx
-const previewEntries: PresetPreviewEntries<Mock1> = [
-  {
-    name: "Frequency 1",
-    unit: "mHz",
-    renderValue: (data: PresetData<Mock1>) => data?.frequency1?.toFixed(3),
-  },
-  {
-    name: "Frequency 2",
-    unit: "mHz",
-    renderValue: (data: PresetData<Mock1>) => data?.frequency2?.toFixed(3),
-  },
-  {
-    name: "Frequency 3",
-    unit: "mHz",
-    renderValue: (data: PresetData<Mock1>) => data?.frequency3?.toFixed(3),
-  },
-];
-```
-`renderValue` gets the data itself and renders the corresponding part of it. Returning undefined will automatically be rendered as the value is not set, showing "N/A".
-
-Create a function for the new react component and use the appropreate machine.
-```tsx
-export function Mock1PresetsPage() {
-  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
-    useMock1();
-  // ...
-}
-```
-
-Here, two more functions need to be created.     const toPresetData = (s: typeof state): PresetData<Mock1> => ({
-    frequency1: s?.frequency1 ?? defaultState?.frequency1,
-    frequency2: s?.frequency2 ?? defaultState?.frequency2,
-    frequency3: s?.frequency3 ?? defaultState?.frequency3,The first takes in a preset and applies it on the machine. If data is missing, use the default defined by the backend.
-```tsx
-export function Mock1PresetsPage() {
-  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
-    useMock1();
-
-  const applyPreset = (preset: Preset<Mock1>) => {
-    const frequency1 = preset.data?.frequency1 ?? 100;
-    const frequency2 = preset.data?.frequency2 ?? 200;
-    const frequency3 = preset.data?.frequency3 ?? 500;
-
-    setFrequency1(frequency1);
-    setFrequency2(frequency2);
-    setFrequency3(frequency3);
-  };
-  // ...
-}
-```
-The later does the opposite, it turns a machine state, comming from the backend, into the preset data
-```tsx
-export function Mock1PresetsPage() {
-  const { setFrequency1, setFrequency2, setFrequency3, defaultState, state } =
-    useMock1();
-  // ...
-    const toPresetData = (s: typeof state): PresetData<Mock1> => ({
-    frequency1: s?.frequency1 ?? defaultState?.frequency1,
-    frequency2: s?.frequency2 ?? defaultState?.frequency2,
-    frequency3: s?.frequency3 ?? defaultState?.frequency3,
-  });
-  // ...
-}
-```
-
-Having all this, we can simple pass it to the `PresetsPage`
-```tsx
-export function Mock1PresetsPage() {
-  // ...
-  return (
-    <PresetsPage
-      machine_identification={mock1.machine_identification}
-      currentState={toPresetData(state)}
-      schemas={schemas}
-      schemaVersion={1}
-      applyPreset={applyPreset}
-      previewEntries={previewEntries}
-      defaultState={toPresetData(defaultState)}
-    />
-  );
-}
-```
-Also mind the machine identification, that has to match the machine we are using and the schema versionen. Here we pass `1`, as we also used `1` in the schemas map.
-
-## Migrations
-
-Migrations are handled by the `PresetsPage`, however, one still has to define what to migrate.
-To do so, first create the new schema.
-```tsx
-const fancyNewMock1PresetDataSchema = z
-  .object({
-    frequency1_now_with_ai: z.number(),
-    frequency2: z.number(),
-    frequency3: z.number(),
-    frequency4: z.number(),
-  })
-  .partial();
-
-type Mock1 = typeof fancyNewMock1PresetDataSchema;
-```
-and then, also create a migration that uses the new schema, but can handle the old format.
-```tsx
-const mock1PresetDataSchemaMigration: PresetSchema = z.preprocess(
-  (obj: any): PresetData<Mock1> => ({
-    frequency1_now_with_ai: obj?.frequency1, // Here, a field have been renamed
-    frequency2: obj?.frequency2,
-    frequency3: obj?.frequency3,
-    frequency4: 666.0, // A new field is added. Initialize it with default the value 
-  }),
-  fancyNewMock1PresetDataSchema,
-);
-```
-Usings zods preprocessing step,
-we can first transform the data as needed and then validate using the new schema accordingly.
-
-We have to register both schemas in our schema map.
-```tsx
-const schemas = new Map<number, Mock1>([
-  [1, mock1PresetDataSchemaMigration as Mock1],
-  [2, fancyNewMock1PresetDataSchema],
-]);
-```
-Mind the cast, which is ok, because `mock1PresetDataSchemaMigration` parses `fancyNewMock1PresetDataSchema` by construction.
-
-Lastly, simply change the schema version being passed to the `PresetsPage`.
-```diff
-@@ -62,7 +77,7 @@ export function Mock1PresetsPage() {
-       machine_identification={mock1.machine_identification}
-       currentState={toPresetData(state)}
-       schemas={schemas}
-      schemaVersion={1}
-+      schemaVersion={2}
-       applyPreset={applyPreset}
-       previewEntries={previewEntries}
-       defaultState={toPresetData(defaultState)}
-```
-Make sure, that all (exsiting and new migrations) return a schema version 2 conform format.
-Of corse, one can chain migrations of needed - just the end result must be complient.
@@ -1,27 +0,0 @@
-# Testing Ram and Cpu (Hardware)
-
-There were instability problems on one of the hmi panel pc's related to ram.
-
-To test Ram and Cpu for stability problems we use memtest86.
-
-You can download it here: https://www.memtest86.com/download.htm
-Then in the unzipped folder you have to flash the .img file to a USB drive with atleast 2GB of space.
-We already have USB-Sticks flashed with memtest though.
-
-1. When starting up the Pc mash Del (Entf in german) on an external keyboard and enter the bios
-
-2. Select the Memtest86 usb stick in the Bios
-
-3. Save changes and exit
-
-4. Now memtest boots up, just let it do its thing from here
-
-It works if the screen looks something like this:
-
-![](../assets/Memtest86_v83p.png)
-
-Simply let it do one Pass ~20 minutes and shutdown and unplug usb stick afterwards
-
-If it freezes completely -> unstable
-
-If it shows errors the ram should be swapped out and the test repeated
Author	SHA1	Message	Date
93094049+kraemr@users.noreply.github.com	b92cae0ac1	lasergraph fix	2025-06-23 14:22:55 +02:00
93094049+kraemr@users.noreply.github.com	40e4a95268	fixed errors after merge and added graphs to pages	2025-06-23 13:15:02 +02:00
93094049+kraemr@users.noreply.github.com	da5bfc5ed0	Merge branch '377-inverter-state-machine-and-el6021-incorrectly-handle-requestresponses' into extruder_feature_testing	2025-06-23 13:02:17 +02:00
93094049+kraemr@users.noreply.github.com	745a3c95f1	refactor	2025-06-23 13:02:14 +02:00
93094049+kraemr@users.noreply.github.com	e34ed6929a	Merge branch 'master' into 175-fine-tune-pressure-pid-controller	2025-06-23 12:55:40 +02:00
93094049+kraemr@users.noreply.github.com	a121f99be4	Revert "Revert "frontend changes for api"" This reverts commit `fbcae62e25`.	2025-06-23 12:47:52 +02:00
93094049+kraemr@users.noreply.github.com	7b15161ada	Revert "Revert "added comments to el6021 init"" This reverts commit `c455b8b2b0`.	2025-06-23 12:46:05 +02:00
93094049+kraemr@users.noreply.github.com	c455b8b2b0	Revert "added comments to el6021 init" This reverts commit `a15d708138`.	2025-06-23 12:45:23 +02:00
93094049+kraemr@users.noreply.github.com	dbfb4410a1	Revert "Revert "bakcend api"" This reverts commit `0b3479bc16`.	2025-06-23 12:44:58 +02:00
93094049+kraemr@users.noreply.github.com	004f5d5d5c	Merge branch 'master' of github.com:qitechgmbh/control	2025-06-23 12:29:25 +02:00